System and method for controlling heat exchange in a sensor enclosure

ABSTRACT

Provided herein is a system and method for cooling a sensor enclosure of a vehicle. The system comprises one or more sensors configured to determine a speed of the vehicle, an internal temperature of an enclosure, and an external temperature. The system comprises an enclosure to house the one or more sensors. The system comprises a fan disposed at a base of the enclosure. The system comprises a controller configured to regulate a rotation speed of the fan based on the speed of the vehicle, the internal temperature of the enclosure, the external temperature, or the difference between the internal temperature of the enclosure and the external temperature. The controller operates the fan at the regulated rotation speed.

TECHNICAL FIELD

The present disclosure relates generally to vehicles equipped withsensors in an enclosure, and in particular, some embodiments relate toheat exchange or cooling of the enclosure.

BACKGROUND

On-board sensors in vehicles, such as autonomous vehicles (AVs),supplement and bolster the vehicle's field of vision by providingaccurate sensor data. Sensor data is used, for example, in applicationsof blind spot detection, lane change assisting, read end radar forcollision warning or collision avoidance, park assisting, cross-trafficmonitoring, brake assisting, emergency braking, and/or automaticdistance controlling. Examples of on-board sensors include, for example,passive sensors and active sensors. On-board sensors include camera,Lidar, radar, GPS, sonar, ultrasonic, IMU (inertial measurement unit),accelerometers, gyroscopes, magnetometers, and FIR (far infrared)sensors. Sensor data may include image data, reflected laser data,and/or the like. Often, images captured by the on-board sensors utilizea coordinate system to determine the distance and angle of the contentsand objects captured in the image. Such real-time space information maybe acquired near the vehicle using various on-board sensors locatedthroughout the vehicle, which may then be processed to calculate and todetermine the safe driving operation of the vehicle. Often, on-boardsensors are exposed to harsh environmental elements (e.g., largetemperature swings, ultra violet radiation, oxidation, wind, moisture,etc.), which can prematurely shorten the sensors' lifetimes.Furthermore, mounting the sensors exterior to the vehicle can subjectthe sensors to an increased risk of impact from road debris, therebyincreasing a possibility of damaging the sensors. To alleviate these andother problems, a sensor enclosure may encase the sensors. Such a sensorenclosure may offer additional protection against environmental elementsand road debris while still allowing the sensors to function or operate.However, encasing sensors in a sensor enclosure can create operationalchallenges. For example, while operating in summer, an internaltemperature of the sensor enclosure may reach a point beyond operationaltemperature ranges for the sensors. This can lead to sensor malfunctionand can render the autonomous vehicle inoperable. In another example,while operating in winter or rainy conditions, moisture inside thesensor enclosure can condensate or fog up, thereby preventing thesensors from gathering critical road information. These shortfalls areaddressed by the present inventions.

SUMMARY

Described herein are systems and methods for heat exchange and coolingfor a sensor enclosure on a vehicle, for example, a LiDAR sensorenclosure mounted on an AV, that are more convenient and reduce acomputational burden on the sensor system, such as an AV sensor system.Various embodiments of the present disclosure provide a systemcomprising a system in a vehicle comprising one or more sensorsconfigured to determine a speed of the vehicle, an internal temperatureof an enclosure, and an external temperature, an enclosure to house theone or more sensors, a fan disposed at a base of the enclosure, and acontroller. The controller may be configured to regulate a rotationspeed of the fan based on the speed of the vehicle, the internaltemperature of the enclosure, the external temperature, or thedifference between the internal temperature of the enclosure and theexternal temperature. The controller may be configured to operate thefan at the regulated rotation speed.

In some embodiments, the controller may be configured to regulate therotation speed of the fan based on the speed of the vehicle.

In some embodiments, the controller may be configured to regulate therotation speed of the fan based on the difference between the internaltemperature of the enclosure and the external temperature.

In some embodiments, the controller may be configured to regulate therotation speed of the fan based on the speed of the vehicle, theinternal temperature of the enclosure, the external temperature, and thedifference between the internal temperature of the enclosure and theexternal temperature.

In some embodiments, the system may further comprise a first ventdisposed at the base of the enclosure and configured to allow airflowinto the enclosure and a second vent disposed at a top surface of theenclosure configured to allow heat to escape.

In some embodiments, the system may further comprise a moistureabsorbent disposed at the second vent.

In some embodiments, the system may further comprise a moisture detectordisposed on a top surface of the enclosure and an air conditioning (AC)vent disposed at the base of the enclosure. In some embodiments, thecontroller may be configured to open the air conditioning (AC) vent andclose the second vent in response to the moisture detector detectingmoisture.

In some embodiments, the controller may be configured to adjust a sizeof the first vent or a size of the second vent based on the speed of thevehicle, the internal temperature of the enclosure, the externaltemperature, or the difference between the internal temperature of theenclosure and the external temperature.

In some embodiments, the system may further comprise a filter systemconfigured to prevent debris from entering the enclosure.

Various embodiments of the present disclosure provide a heat exchangemethod for an enclosure disposed on a vehicle and comprising one or moresensors. The method comprises, determining, using the one or moresensors, a speed of the vehicle, an internal temperature of an enclosurehousing the one or more sensors, and an external temperature. The methodcomprises regulating, by a controller, a rotation speed of a fandisposed at a base of the enclosure, based on the speed of the vehicle,the internal temperature of the enclosure, the external temperature, ora difference between the internal temperature of the enclosure and theexternal temperature. The method further comprises, operating the fan atthe regulated rotation speed.

In some embodiments, the regulating the rotation speed of the fan isbased on the speed of the vehicle.

In some embodiments, the regulating the rotation speed of the fan isbased on the difference between the internal temperature of theenclosure and the external temperature.

In some embodiments, the regulating the rotation speed of the fan isbased on the speed of the vehicle, the internal temperature of theenclosure, the external temperature, and the difference between theinternal temperature of the enclosure and the external temperature.

In some embodiments, the method further comprises allowing airflow toenter the enclosure at a first vent disposed at the base of theenclosure, and allowing heat to escape the enclosure at a second ventdisposed at a top surface of the enclosure.

In some embodiments, the method further comprises absorbing moisture, bya moisture absorbent, at the second vent.

In some embodiments, the method further comprises detecting whether ornot moisture is present, by a moisture detector, at a top surface of theenclosure, and closing the second vent in response to detecting thatmoisture is present.

In some embodiments, the method further comprises detecting whether ornot moisture is present, by a moisture detector, at a top surface of theenclosure, closing the second vent in response to detecting thatmoisture is present, and opening an air conditioning (AC) vent disposedat the base of the enclosure to allow heat to escape.

In some embodiments, the method further comprises adjusting a size ofthe first vent or a size of the second vent based on the speed of thevehicle, the internal temperature of the enclosure, the externaltemperature, or the difference between the internal temperature of theenclosure and the external temperature.

In some embodiments, the method further comprises filtering, by a filtersystem, an airflow entering the enclosure to prevent debris fromentering the enclosure.

These and other features of the systems, methods, and non-transitorycomputer readable media disclosed herein, as well as the methods ofoperation and functions of the related elements of structure and thecombination of parts and economies of manufacture, will become moreapparent upon consideration of the following description and theappended claims with reference to the accompanying drawings, all ofwhich form a part of this specification, wherein like reference numeralsdesignate corresponding parts in the various figures. It is to beexpressly understood, however, that the drawings are for purposes ofillustration and description only and are not intended as a definitionof the limits of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

Certain features of various embodiments of the present technology areset forth with particularity in the appended claims. A betterunderstanding of the features and advantages of the technology will beobtained by reference to the following detailed description that setsforth illustrative embodiments, in which the principles of the inventionare utilized, and the accompanying drawings of which:

FIG. 1A illustrates an example vehicle (e.g., autonomous vehicle),according to an embodiment of the present disclosure.

FIG. 1B illustrates an example vehicle (e.g., autonomous vehicle),according to an embodiment of the present disclosure.

FIG. 1C illustrates an example of a sensor system for a vehicle (e.g.,autonomous vehicle), according to an embodiment of the presentdisclosure.

FIG. 2 illustrates an example of a sensor enclosure for a sensor systemaccording to some embodiments.

FIG. 3 illustrates an example of a sensor enclosure for a sensor systemaccording to some embodiments.

FIG. 4 illustrates an example of a sensor enclosure for a sensor systemaccording to some embodiments.

FIG. 5 illustrates an example of a sensor enclosure for a sensor systemaccording to some embodiments.

FIG. 6 illustrates an exemplary diagram of inputs and outputs to acontroller of a sensor enclosure according to some embodiments.

FIG. 7 depicts a flowchart of an example of a cooling method accordingto some embodiments.

FIG. 8 depicts a flowchart of an example of a cooling method accordingto some embodiments.

FIG. 9 depicts a flowchart of an example of a cooling method accordingto some embodiments.

FIG. 10 depicts a flowchart of an example of a cooling method accordingto some embodiments.

FIG. 11 depicts a flowchart of an example of a cooling method accordingto some embodiments.

FIG. 12 is a diagram of an example computer system for implementing thefeatures disclosed herein.

DETAILED DESCRIPTION

In the following description, certain specific details are set forth inorder to provide a thorough understanding of various embodiments of theinvention. However, one skilled in the art will understand that theinvention may be practiced without these details. Moreover, whilevarious embodiments of the invention are disclosed herein, manyadaptations and modifications may be made within the scope of theinvention in accordance with the common general knowledge of thoseskilled in this art. Such modifications include the substitution ofknown equivalents for any aspect of the invention in order to achievethe same result in substantially the same way.

Unless the context requires otherwise, throughout the presentspecification and claims, the word “comprise” and variations thereof,such as, “comprises” and “comprising” are to be construed in an open,inclusive sense, that is as “including, but not limited to.” Recitationof numeric ranges of values throughout the specification is intended toserve as a shorthand notation of referring individually to each separatevalue falling within the range inclusive of the values defining therange, and each separate value is incorporated in the specification asit were individually recited herein. Additionally, the singular forms“a,” “an” and “the” include plural referents unless the context clearlydictates otherwise. The phrases “at least one of,” “at least oneselected from the group of,” or “at least one selected from the groupconsisting of,” and the like are to be interpreted in the disjunctive(e.g., not to be interpreted as at least one of A and at least one ofB).

Reference throughout this specification to “one embodiment” or “anembodiment” means that a particular feature, structure or characteristicdescribed in connection with the embodiment is included in at least oneembodiment of the present invention. Thus, the appearances of thephrases “in one embodiment” or “in an embodiment” in various placesthroughout this specification are not necessarily all referring to thesame embodiment, but may be in some instances. Furthermore, theparticular features, structures, or characteristics may be combined inany suitable manner in one or more embodiments.

In general, a vehicle (e.g., an autonomous vehicle, a driverlessvehicle, etc.) can have myriad sensors onboard the vehicle. The myriadsensors can include light detection and ranging sensors (or LiDARs),radars, cameras, GPS, sonar, ultrasonic, IMU (inertial measurementunit), accelerometers, gyroscopes, magnetometers, FIR (far infrared)sensors, etc. The myriad sensors can play a central role in functioningof an autonomous or driverless vehicle. For example, LiDARs can beutilized to detect and identify objects (e.g., other vehicles, roadsigns, pedestrians, buildings, etc.) in a surrounding. LiDARs can alsobe utilized to determine relative distances of the objects in thesurrounding. For another example, radars can be utilized to aid withcollision avoidance, adaptive cruise control, blind side detection,assisted parking, etc. For yet another example, camera can be utilizedto recognize, interpret, and/or analyze contents or visual cues of theobjects. Cameras and other optical sensors can capture image data usingcharge coupled devices (CCDs), complementary metal oxide semiconductors(CMOS), or similar elements. An IMU may detect abnormal occurrences suchas a bump or pothole in a road. Data collected from these sensors canthen be processed and used, as inputs, to make driving decisions (e.g.,acceleration, deceleration, direction change, etc.). For example, datafrom these sensors may be further processed into an image histogram of agraphical representation of tonal distribution in an image captured bythe one or more sensors.

Various embodiments overcome problems specifically arising in the realmof autonomous vehicle technology. In various embodiments, the myriadsensors (e.g., LiDARs, radars, cameras, etc.) onboard the autonomousvehicle can be encased or housed in an enclosure. The enclosure allowsthe myriad sensors to be moved from one vehicle to another vehicle in asingle act, rather than to move the myriad sensors one by one. In someembodiments, the enclosure can be installed or mounted onto a fixture ofthe autonomous vehicle. For example, the enclosure can be installed ormounted onto a roof rack or a custom rack fitted to the autonomousvehicle. The enclosure can be translated or moved along the fixture. Insome embodiments, the enclosure is made of a material that istransparent to electromagnetic waves receptive to the myriad sensorsencased by the enclosure. For example, the enclosure can be made from atransparent material that allows laser lights, radio waves, and visiblelights emitted and/or received by the LiDARs, the radars, and thecameras, respectively, to enter and/or exit the enclosure. In someembodiments, the enclosure can include a signal transmitter. The signaltransmitter can emit a signal. This signal can be received or detectedby a signal receiver. In some cases, the signal can be reflected beforebeing received or detected by the signal receiver. In one embodiment,both the signal transmitter and the signal receiver are integrated intothe enclosure. In another embodiment, the signal transmitter isintegrated into the enclosure while the signal receiver is integratedinto the fixture of the autonomous vehicle. An intensity of the signalcan be determined. Based on the intensity of the signal, a determinationon whether the enclosure is properly aligned (positioned or placed) ontothe fixture of the autonomous vehicle can be made. In some embodiments,the enclosure can include an audio device that emits an audio cue basedon the intensity of the signal. For example, the stronger or higher theintensity, the more audible (e.g., louder, faster, etc.) the audio cuebecomes. The audio cue can serve as an indication or a feedback to anextend that the enclosure is properly aligned. Various embodiments arediscussed herein in greater detail.

FIG. 1A illustrates an example vehicle (e.g. autonomous vehicle) 100,according to an embodiment of the present disclosure. A vehicle 100generally refers to a category of vehicles that are capable of sensingand driving in a surrounding by itself. The vehicle 100 can includemyriad sensors (e.g., LiDARs, radars, cameras, etc.) to detect andidentify objects in the surrounding. Such objects may include, but notlimited to, pedestrians, road signs, traffic lights, and/or othervehicles, for example. The vehicle 100 can also include myriad actuatorsto propel and navigate the vehicle 100 in the surrounding. Suchactuators may include, for example, any suitable electro-mechanicaldevices or systems to control a throttle response, a braking action, asteering action, etc. In some embodiments, the vehicle 100 canrecognize, interpret, and analyze road signs (e.g., speed limit, schoolzone, construction zone, etc.) and traffic lights (e.g., red light,yellow light, green light, flashing red light, etc.). For example, thevehicle 100 can adjust vehicle speed based on speed limit signs postedon roadways. In some embodiments, the vehicle 100 can determine andadjust speed at which the vehicle 100 is traveling in relation to otherobjects in the surrounding. For example, the vehicle 100 can maintain aconstant, safe distance from a vehicle ahead (e.g., adaptive cruisecontrol). In this example, the vehicle 100 maintains this safe distanceby constantly adjusting its vehicle speed to that of the vehicle ahead.

In various embodiments, the vehicle 100 may navigate through roads,streets, and/or terrain with limited or no human input. The word“vehicle” or “vehicles” as used in this paper includes vehicles thattravel on ground (e.g., cars, trucks, bus, etc.), but may also includevehicles that travel in air (e.g., drones, airplanes, helicopters,etc.), vehicles that travel on water (e.g., boats, submarines, etc.).Further, “vehicle” or “vehicles” discussed in this paper may or may notaccommodate one or more passengers therein. Moreover, phrases“autonomous vehicles,” “driverless vehicles,” or any other vehicles thatdo not require active human involvement can be used interchangeably.

In general, the vehicle 100 can effectuate any control to itself that ahuman driver can on a conventional vehicle. For example, the vehicle 100can accelerate, brake, turn left or right, or drive in a reversedirection just as a human driver can on the conventional vehicle. Thevehicle 100 can also sense environmental conditions, gauge spatialrelationships (e.g., distances between objects and itself), detect andanalyze road signs just as the human driver. Moreover, the vehicle 100can perform more complex operations, such as parallel parking, parkingin a crowded parking lot, collision avoidance, etc., without any humaninput.

In various embodiments, the vehicle 100 may include one or more sensors.As used herein, the one or more sensors may include laser scanningsystems (e.g., LiDARs) 102, radar systems 104, camera systems 106, GPS,sonar, ultrasonic, IMU (inertial measurement unit), accelerometers,gyroscopes, magnetometers, FIR (far infrared) sensors, and/or the like.The one or more sensors allow the vehicle 100 to sense an environmentaround the vehicle 100. For example, the LiDARs 102 can generate athree-dimensional map of the environment. The LiDARs 102 can also detectobjects in the environment. In another example, the radar systems 104can determine distances and speeds of objects around the vehicle 100. Inanother example, the camera systems 106 can capture and process imagedata to detect and identify objects, such as road signs, as well asdeciphering content of the objects, such as speed limit posted on theroad signs.

In the example of FIG. 1A, the vehicle 100 is shown with a LiDAR 102.The LiDAR is coupled to a roof or a top of the vehicle 100. Asdiscussed, LiDARs can be configured to generate three dimensional mapsof an environment and detect objects in the environment. In the exampleof FIG. 1A, the vehicle 100 is shown with four radar systems 104. Tworadar systems are coupled to a front-side and a back-side of the vehicle100, and two radar systems are coupled to a right-side and a left-sideof the vehicle 100. In some embodiments, the front-side and theback-side radar systems can be configured for adaptive cruise controland/or accident avoidance. For example, the front-side radar system canbe used by the vehicle 100 to maintain a healthy distance from a vehicleahead of the vehicle 100. In another example, if the vehicle aheadexperiences a sudden reduction in speed, the vehicle 100 can detect thissudden change in motion and adjust its vehicle speed accordingly. Insome embodiments, the right-side and the left-side radar systems can beconfigured for blind-spot detection. In the example of FIG. 1A, thevehicle 100 is shown with six camera systems 106. Two camera systems arecoupled to the front-side of the vehicle 100, two camera systems arecoupled to the back-side of the vehicle 100, and two camera systems arecouple to the right-side and the left-side of the vehicle 100. In someembodiments, the front-side and the back-side camera systems can beconfigured to detect, identify, and decipher objects, such as cars,pedestrian, road signs, in the front and the back of the vehicle 100.For example, the front-side camera systems can be utilized by thevehicle 100 to determine speed limits. In some embodiments, theright-side and the left-side camera systems can be configured to detectobjects, such as lane markers. For example, side camera systems can beused by the vehicle 100 to ensure that the vehicle 100 drives within itslane.

FIG. 1B illustrates an example vehicle (e.g., autonomous vehicle),according to an embodiment of the present disclosure. The examplevehicle 150 is shown with a sensor enclosure 152 and four radar systems154. The sensor enclosure 152 can include a LiDAR and one or more camerasystems. As discussed, the sensor enclosure 152 can provide anadditional protection for the LiDAR and the one or more camera systemsagainst various environmental conditions while still letting inwavelengths of light receptive to the LiDAR and the one or more camerasystems. In general, the LiDAR and the one or more camera systems of thesensor enclosure 152 and the four radar systems work exactly same as theLiDAR, camera systems, and radar systems discussed with respect withFIG. 1A.

FIC. 1C illustrates an example of a sensor system 180 in a vehicle suchas an autonomous vehicle (e.g., vehicle 100) without an enclosure, forillustrative purposes. The sensor system 180 may include a LiDAR system182, a camera system 184, a frame 186, a ring 188, a temperature sensor190, a fan 192, an air conditioning (AC) vent 194, and a controller 196.For example, the LiDAR system 182 may be supported on the frame 186. Thecamera 184 may also be attached (e.g., indirectly or directly) to theframe 186 or a lower base plate of the frame 186 at or near a bottomsurface of the sensor system 180. The ring 188 may be disposedunderneath the frame 186 or a lower base plate of the frame 186, and maybe utilized to anchor an enclosure for the sensor system 180. The frame186 may also include struts, a stand or tripod. The ring 188 may bemetallic, as an example. The temperature sensor 190 may be a thermostator a thermometer, and may be attached directly or indirectly to theframe 186. The fan 192 may be a DC fan, and may be attached directly orindirectly to the frame 186. The AC vent 194 may selectively pass coolair to the LiDAR system 182, the camera system 184, the bottom surface186, the temperature sensor 190, the fan 192, and/or the controller 196.

The controller 196 may control the operations of one or more of, or allof, the LiDAR system 182, the camera system 184, the temperature sensor190, the fan 192, and the AC vent 194. For example, the controller 196may regulate a rotation speed of the fan 192 based on a speed of thevehicle, a temperature measured by the temperature sensor 190, anexternal temperature, or a difference between the temperature measuredby the temperature sensor 190 and the external temperature, and operatethe fan 192 at the regulated rotation speed. For example, the controller196 may regulate the rotation speed of the fan 192 to be linearly basedon the difference between the external and internal temperatures. Asanother example, the controller 196 may regulate the rotation speed ofthe fan 192 based on whether the internal temperature exceeds athreshold temperature. If the internal temperature exceeds the thresholdtemperature, the rotation speed of the fan 192 may vary linearly withhow much the internal temperature exceeds the threshold temperature. Therotation speed of the fan 192 may be regulated by the controller 196 initerations. In a first iteration, the rotation speed of the fan 192 maybe adjusted or regulated linearly based on the difference between theexternal and internal temperatures. Next, the rotation speed of the fan192 may be adjusted or regulated linearly based on how much the internaltemperature exceeds the threshold temperature. Next, the rotation speedof the fan 192 may be adjusted or regulated (e.g., linearly) based onthe speed of the vehicle.

Furthermore, the controller 196 may, in addition to, or instead of,regulating the rotation speed of the fan 192, regulate an amount of airentering from the AC vent 194, for example, depending or based on howmuch cooling is required for one or more of the sensors of the sensorsystem 180. For example, the controller 196 may regulate the amount ofair entering into the AC vent 194 based on one or more of, or anycombination of, the speed of the autonomous vehicle, the temperaturemeasured by the temperature sensor 190, the external temperature, thedifference between the temperature measured by the temperature sensor190 and the external temperature, or based on an internal temperature ofthe LiDAR system 182 or the cameras 184 (which may indicate how heavilythe LiDAR system 182 or the cameras 184 are being used). For example,the controller 196 may regulate the amount of air entering into the ACvent 194 by adjusting a size of an opening of the AC vent 194 (e.g., aradius of the opening of the AC vent 194), or by regulating an amount ofcool air extracted into the AC vent 194. In another embodiment, thecontroller 196 may regulate an amount of air entering from the AC vent194 based on the rotation speed of the fan 192. For example, in oneembodiment, if the rotation speed of the fan 192 is increased, thecontroller 196 may reduce the amount of air entering into the AC vent194 because adequate cooling of the sensor system 180 may already beprovided by the fan 192. In one embodiment, the controller 196 mayselect between using the fan 192 and the AC vent 194 to cool the sensorsystem 180, based on which method is more energy efficient. On the otherhand, if the operation of the fan 192 at high rotation speed itselfgenerates heat internally for the fan 192, the controller 196 mayincrease the amount of air entering into the AC vent 196 to providecooling for the fan 192. Thus, the controller 196 may increase theamount of air entering into the AC vent 194 as the rotation speed of thefan 192 is increased.

FIG. 2 illustrates an example of a sensor enclosure 200 for a sensorsystem (e.g. sensor system 180), according to an embodiment of thepresent disclosure. In some embodiments, the sensor system 180 of FIG.1C can be implemented as part of the sensor enclosure 200 of FIG. 2.FIG. 2 may include a cover 262 to encase a sensor system, which mayinclude LiDAR sensor 230 and cameras 232. For example, the cover 262 maybe detachable or removable to allow easy access to the sensor system. Insome embodiments, the cover 262 may rotate circularly, or in threehundred sixty degrees, relative to the sensor system about a centralvertical axis of the cover 262. In some embodiments, the cover 262 mayhave a profile or shape that has a low wind resistance or coefficient ofdrag, and thereby reducing negative impacts to fuel economy of theautonomous vehicle. For example, the cover 262 may have a smooth surfaceso that a boundary layer formed between the air and the cover 262 wouldbe laminar rather than turbulent. For example, the cover 262 may have asleek angular profile. In some embodiments, the outer contour of thecover 262 can have multiple distinct sections (e.g., portions, regions,etc.) with different shapes. For example, a top portion of the cover 262may have a circular dome shape with a first diameter measured at a baseof the top portion and may encase the LiDAR sensor 230 of the autonomousvehicle. A middle portion of the cover 262 directly below the topportion may have a trapezoidal or truncated cone shape with a seconddiameter measured at a base on the middle portion, and the seconddiameter may be larger than the first diameter. A lower portion of thecover 262 directly below the middle portion may have a trapezoidal ortruncated cone shape with a third diameter measured at a base on thelower portion. The third diameter may be larger than the seconddiameter. In other embodiments, the cover 262 may be entirely comprisedof a single shape, such as a circular dome shape, a trapezoidal ortruncated cone shape.

The cover 262 may be made from any suitable material that allows the oneor more sensors of the sensor enclosure 200 to properly function whileshielding the one or more sensors from environmental elements (e.g.,rain, snow, moisture, wind, dust, radiation, oxidation, etc.). Further,the suitable material may be transparent to wavelengths of light orelectro-magnetic waves receptive to the LiDAR sensor 230 and theplurality of cameras 232. For example, for the LiDAR sensor 230 toproperly operate, the cover 262 should allow laser pulses emitted fromthe LiDAR sensor 230 to pass through the cover 262 to reach a target andthen reflect back through the cover 262 and back to the LiDAR sensor230. Similarly, for the plurality of cameras 232 to properly operate,the cover 262 should allow visible light to enter. In addition to beingtransparent to wavelengths of light, the suitable material should alsobe able to withstand potential impacts from roadside debris withoutcausing damages to the LiDAR sensor 230 or the plurality of cameras 232.In an implementation, the cover 262 can be made of acrylic glass (e.g.,Cylux, Plexiglas, Acrylite, Lucite, Perspex, etc.). In anotherimplementation, the cover 262 can be made of strengthen glass (e.g.,Coring® Gorilla® glass). In yet another implementation, the cover 262can be made of laminated safety glass held in place by layers ofpolyvinyl butyral (PVB), ethylene-vinyl acetate (EVA), or other similarchemical compounds. Many implementations are possible and contemplated.

In some embodiments, the cover 262 can be tinted with a thin-film neuralfilter to reduce transmittance of light entering the cover 262. Forexample, in an embodiment, a lower portion of the cover 262 can beselectively tinted with the thin-film neutral filter to reduce anintensity of visible light seen by the plurality of cameras 232. In thisexample, transmittance of laser pulses emitted from the LiDAR sensor 230is not be affected by the tint because only the lower portion of thecover 262 is tinted. In another embodiment, the lower portion of thecover 262 can be tinted with a thin-film graduated neural filter inwhich the transmittance of visible light can vary along an axis. In yetanother embodiment, the whole cover 262 can be treated or coated with areflective coating such that the components of the sensor enclosure 200is not visible from an outside vantage point while still beingtransparent to wavelengths of light receptive to the LiDAR sensor 230and the plurality of cameras 232. Many variations, such as adding apolarization layer or an anti-reflective layer, are possible andcontemplated.

In some embodiments, the enclosure 200 may comprise a frame 234, a ring236, and a plurality of anchoring posts 238. The frame 234 providesmechanical support for the LiDAR sensor 230 and the plurality of cameras232. The ring 236 provides mounting points for the cover 262 such thatthe cover 262 encases and protects the sensor system from environmentalelements. The plurality of anchoring posts 238 provides mechanicalcouplings to secure or mount the sensor enclosure 200 to the autonomousvehicle.

In some embodiments, the frame 234 may have two base plates held inplace by struts 240. An upper base plate of the frame 234 may provide amounting surface for the LiDAR sensor 230 while a lower base plate ofthe frame 234 may provide a mounting surface for the plurality ofcameras 232. In general, any number of LiDAR sensors 230 and cameras 232may be mounted to the frame 234. The frame 234 is not limited to havingone LiDAR sensor and six cameras as shown in FIG. 2. For example, in anembodiment, the frame 234 can have more than two base plates held inplace by the struts 240. In this example, the frame 234 may have threebase plates with upper two base plates reserved for two LiDAR sensors230 and a lower base plate for six cameras 232. In another embodiment,the lower base plate can have more than six cameras 232. For instance,there can be three cameras pointed in a forward direction of anautonomous vehicle, two cameras pointed to in a right and a leftdirection of the autonomous vehicle, and two cameras pointed in areverse direction of the autonomous vehicle. Many variations arepossible.

The frame 234 may include a temperature sensor 242, a fan 244, and anair conditioning (AC) vent 246. The temperature sensor 242 may beconfigured to measure a temperature inside of the sensor enclosure 200.In general, the temperature sensor 242 can be placed anywhere on theframe 234 that is representative of the temperature of the enclosure200. In a typical implementation, the temperature sensor 242 is placedin a region in which heat generated by the LiDAR sensor 230 and theplurality of cameras 232 are most localized. In the example of FIG. 2,the temperature sensor 242 is placed on the lower base plate of theframe 234, right behind the three front cameras. In some embodiments,the frame 234 comprises multiple temperature sensors, one for eachsensor, for example, so that each sensor temperature may be determinedindependently and each sensor may be selectively cooled withoutaffecting other sensors. The fan 244 may be configured to draw an inletairflow from an external source. The fan 244, in variousimplementations, works in conjunction with the temperature sensor 242 tomaintain a steady temperature condition inside the sensor enclosure 200.The fan 244 can vary its rotation speed depending on the temperature ofthe enclosure 200. For example, when the enclosure temperature is high,as measured by the temperature sensor 242, the fan 244 may increase itsrotation speed to draw additional volume of air to lower the temperatureof the enclosure 200 and thus cooling the sensors. Similarly, when thetemperature of the enclosure 200 is low, the fan 244 does not need tooperate as fast. The fan 244 may be located centrally on the lower baseplate of the frame 234. The AC vent 246 may be a duct, tube, or aconduit that conveys cooling air into the sensor enclosure 200. In anembodiment, the AC vent 246 may be connected to a cabin of theautonomous vehicle. In another embodiment, the AC vent 246 may beconnected to a separate air conditioner unit that provides cooling airseparate from the cabin of the autonomous vehicle.

In some embodiments, the frame 234 can also include a powertrain. Thepowertrain is an electric motor coupled to a drivetrain comprising oneor more gears. The powertrain can rotate the ring 236 clockwise orcounter-clockwise. In various embodiments, the electric motor can be adirect current brush or brushless motor, or an alternate currentsynchronous or asynchronous motor. Many variations are possible. Invarious embodiments, the one or more gears of the drivetrain can beconfigured to have various gear ratios designed to provide variousamounts of torque delivery and rotational speed.

In general, the frame 234 can be made from any suitable materials thatcan withstand extreme temperature swings and weather variousenvironmental conditions (e.g., rain, snow, corrosion, oxidation, etc.).The frame 234 can be fabricated using various metal alloys (e.g.,aluminum alloys, steel alloys, etc.). The frame 234 can also befabricated with three dimensional printers using thermoplastics (e.g.,polylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, thermoplastic elastomer, etc.). Similarly, the air duct 246can be made from rigid materials (e.g., hard plastics, polyurethane,metal alloys, etc.) or semi-rigid materials (e.g., rubber, silicone,etc.). Many variations are possible.

The ring 236 can provide mounting points for the cover 262 to encase theinternal structure 204 of the sensor enclosure 200. In the example ofFIG. 2, the ring 236 has an outer portion that includes attaching points248 through which the cover 262 can be attached and secured. The ring236 also has an inner portion that comprises gear teeth 250 (or cogs)such that when the gear teeth 250 is driven by the powertrain of theframe 234, the whole ring 236 rotates as a result.

Similar to the frame 234, the ring 236 can be made from any suitablematerial that can withstand extreme temperature swings and weathervarious environmental conditions. However, in most implementations, thesuitable material for the ring 236 must be somewhat more durable thanthe material used for the frame 234. This is because the gear teeth 250of the ring 236 are subject to more wear and tear from being coupled tothe powertrain of the frame 234. The ring 236 can be fabricated usingvarious metal alloys (e.g., carbon steel, alloy steel, etc.). The ring236 can also be fabricated with three dimensional printers usingthermoplastics (e.g., polylactic acid, acrylonitrile butadiene styrene,polyamide, high impact polystyrene, thermoplastic elastomer, etc.).

The plurality of the anchoring posts 238 can provide mechanicalcouplings to secure or mount the sensor enclosure 200 to an autonomousvehicle. In general, any number of anchoring posts 238 may be used. Inthe example of FIG. 2, the sensor enclosure 200 is shown with eightanchoring posts: four anchoring posts to secure the frame 234 to theautonomous vehicle and four anchoring posts to secure the ring 236 tothe autonomous vehicle. Similar to the frame 234 and the ring 236, theplurality of the anchoring posts 238 can be made from any suitablematerials and fabricated using metal alloys (e.g., carbon steel, alloysteel, etc.) or three dimensional printed with thermoplastics (e.g.,polylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, thermoplastic elastomer, etc.).

A controller 252 may be disposed on the frame 234, the upper base plateof the frame 234, or the lower base plate of the frame 234. Thecontroller 252 may control the operations of one of more of the LiDARsensor 230, the cameras 232, the temperature sensor 242, the fan 244,and/or the AC vent 246. For example, the controller 252 may regulate arotation speed of the fan 244 based on a speed of the vehicle, atemperature measured by the temperature sensor 242, an externaltemperature, or a difference between the temperature measured by thetemperature sensor 242 and the external temperature, and operate the fan244 at the regulated rotation speed. For example, the controller 252 mayregulate a rotation speed of the fan 244 based on any combination of theaforementioned factors. Furthermore, the controller 252 may, in additionto, or instead of, regulating the rotation speed of the fan 244,regulate an amount of air entering from the AC vent 246, for example,depending or based on how much cooling is required for one or more ofthe sensors of the enclosure 200. For example, the controller 252 mayregulate the amount of air entering into the AC vent 246 based on one ormore of, or any combination of, the speed of the autonomous vehicle, thetemperature measured by the temperature sensor 242, the externaltemperature, the difference between the temperature measured by thetemperature sensor 242 and the external temperature, or based on aninternal temperature of the LiDAR sensor 230 or the cameras 232 (whichmay indicate how heavily the LiDAR sensor 230 or the cameras 232 arebeing used). For example, the controller 252 may regulate the amount ofair entering into the AC vent 246 by adjusting a size of an opening ofthe AC vent 246 (e.g., a radius of the opening of the AC vent 246, or byregulating an amount of air extracted into the AC vent 246. In anotherembodiment, the controller 252 may regulate an amount of air enteringfrom the AC vent 246 based on the rotation speed of the fan 244. Forexample, in one embodiment, if the rotation speed of the fan 244 isincreased, the controller 252 may reduce the amount of air entering intothe AC vent 246 because adequate cooling of the enclosure 200 mayalready be provided by the fan 244. In one embodiment, the controller252 may select between using the fan 244 and the AC vent 246 to cool theenclosure 200. For example, the controller 252 may select between usingthe fan 244 and the AC vent 246 to cool the enclosure 200 based on whichmethod is more energy efficient. In one embodiment, the controller 252may select using the fan 244 when an amount of cooling to be provided(e.g. which may correspond to the temperature measured by temperaturesensor 242) is lower than a threshold (e.g., first threshold) and usingthe AC vent 246 when the amount of cooling to be provided is greaterthan the threshold (e.g., first threshold). On the other hand, if theoperation of the fan 244 at high rotation speed itself generates heatinternally for the fan 244, the controller 252 may increase the amountof air entering into the AC vent 246, or allow air to pass through theAC vent 246 (if no air previously was passing through) to providecooling for the fan 244. Thus, the controller 252 may increase theamount of air entering into the AC vent 246 as the rotation speed of thefan 244 is increased.

The controller 252 may further adjust a rotation speed of the fan 244,and/or an amount of air entering the AC vent 246, based on one or anycombination of predicted future conditions, such as anticipated speed,anticipated external temperature, or anticipated internal temperature ofthe enclosure 200. For example, if the controller 252 predicts, based ona navigation route selected, or weather forecast, that the temperatureat a destination is high, the controller may preemptively precool theenclosure 200 by increasing the rotation speed of the fan 244 orincreasing the amount of air entering the AC vent 246. As anotherexample, if the controller 252 predicts that the LiDAR sensor 230 or thecameras 232 will be heavily used in a near future, the controller maypreemptively precool the enclosure 200 by increasing the rotation speedof the fan 244 or increasing the amount of air entering the AC vent 246.As another example, if the controller 252 predicts that the vehiclespeed will increase based on a type of road (e.g., highway), trafficconditions, road conditions, and/or amount of battery/gasolineremaining, the controller may preemptively precool the enclosure 200 byincreasing the rotation speed of the fan 244 or increasing the amount ofair entering the AC vent 246.

FIG. 3 illustrates an example of a sensor enclosure 300 for a sensorsystem (e.g. sensor system 180), according to an embodiment of thepresent disclosure. In some embodiments, the sensor system 180 of FIG.1C can be implemented as part of the sensor enclosure 300 of FIG. 3.FIG. 3 may include a cover 362 to encase a sensor system, which mayinclude LiDAR sensor 330 and cameras 332. For example, the cover 362 maybe detachable or removable to allow easy access to the sensor system. Insome embodiments, the cover 362 can rotate circularly, or in threehundred sixty degrees, relative to the sensor system about a centralvertical axis of the cover 362. In some embodiments, the cover 362 mayhave a profile or shape that has a low wind resistance or coefficient ofdrag, and thereby reducing negative impacts to fuel economy of theautonomous vehicle. For example, the cover 362 may have a smooth surfaceso that a boundary layer formed between the air and the cover 362 wouldbe laminar rather than turbulent. For example, the cover 362 may have asleek angular profile. In some embodiments, the outer contour of thecover 362 can have multiple distinct sections (e.g., portions, regions,etc.) with different shapes. For example, a top portion of the cover 362may have a circular dome shape with a first diameter measured at a baseof the top portion and may encase the LiDAR sensor 330 of the autonomousvehicle. A middle portion of the cover 362 directly below the topportion may have a trapezoidal or truncated cone shape with a seconddiameter measured at a base on the middle portion, and the seconddiameter may be larger than the first diameter. A lower portion of thecover 362 directly below the middle portion may have a trapezoidal ortruncated cone shape with a third diameter measured at a base on thelower portion. The third diameter may be larger than the seconddiameter. In other embodiments, the cover 362 may be entirely comprisedof a single shape, such as a circular dome shape, a trapezoidal ortruncated cone shape.

The cover 362 may be made from any suitable material that allows the oneor more sensors of the sensor enclosure 300 to properly function whileshielding the one or more sensors from environmental elements (e.g.,rain, snow, moisture, wind, dust, radiation, oxidation, etc.). Further,the suitable material must be transparent to wavelengths of light orelectro-magnetic waves receptive to the LiDAR sensor 330 and theplurality of cameras 332. For example, for the LiDAR sensor 330 toproperly operate, the cover 362 must allow laser pulses emitted from theLiDAR sensor 330 to pass through the cover 362 to reach a target andthen reflect back through the cover 362 and back to the LiDAR sensor330. Similarly, for the plurality of cameras 332 to properly operate,the cover 362 must allow visible light to enter. In addition to beingtransparent to wavelengths of light, the suitable material must also beable to withstand potential impacts from roadside debris without causingdamages to the LiDAR sensor 330 or the plurality of cameras 332. In animplementation, the cover 362 can be made of acrylic glass (e.g., Cylux,Plexiglas, Acrylite, Lucite, Perspex, etc.). In another implementation,the cover 362 can be made of strengthen glass (e.g., Coring® Gorilla®glass). In yet another implementation, the cover 362 can be made oflaminated safety glass held in place by layers of polyvinyl butyral(PVB), ethylene-vinyl acetate (EVA), or other similar chemicalcompounds. Many implementations are possible and contemplated.

In some embodiments, the cover 362 can be tinted with a thin-film neuralfilter to reduce transmittance of light entering the cover 362. Forexample, in an embodiment, a lower portion of the cover 362 can beselectively tinted with the thin-film neutral filter to reduce anintensity of visible light seen by the plurality of cameras 332. In thisexample, transmittance of laser pulses emitted from the LiDAR sensor 330is not be affected by the tint because only the lower portion of thecover 342 is tinted. In another embodiment, the lower portion of thecover 362 can be tinted with a thin-film graduated neural filter inwhich the transmittance of visible light can vary along an axis. In yetanother embodiment, the whole cover 362 can be treated or coated with areflective coating such that the components of the sensor enclosure 300is not visible from an outside vantage point while still beingtransparent to wavelengths of light receptive to the LiDAR sensor 330and the plurality of cameras 332. Many variations, such as adding apolarization layer or an anti-reflective layer, are possible andcontemplated.

In some embodiments, the enclosure 300 may comprise a frame 334, a ring336, and a plurality of anchoring posts 338. The frame 334 providesmechanical support for the LiDAR sensor 330 and the plurality of cameras332. The ring 336 provides mounting points for the cover 362 such thatthe cover 362 encases and protects the sensor system from environmentalelements. The plurality of anchoring posts 338 provides mechanicalcouplings to secure or mount the sensor enclosure 300 to the autonomousvehicle.

In some embodiments, the frame 334 may have two base plates held inplace by struts 340. An upper base plate of the frame 334 may provide amounting surface for the LiDAR sensor 330 while a lower base plate ofthe frame 334 may provide a mounting surface for the plurality ofcameras 332. In general, any number of LiDAR sensors 330 and cameras 332may be mounted to the frame 334. The frame 334 is not limited to havingone LiDAR sensor and six cameras as shown in FIG. 3. For example, in anembodiment, the frame 334 can have more than two base plates held inplace by the struts 340. In this example, the frame 334 may have threebase plates with upper two base plates reserved for two LiDAR sensors330 and a lower base plate for six cameras 332. In another embodiment,the lower base plate can have more than six cameras 332. For instance,there can be three cameras pointed in a forward direction of anautonomous vehicle, two cameras pointed to in a right and a leftdirection of the autonomous vehicle, and two cameras pointed in areverse direction of the autonomous vehicle. Many variations arepossible.

The frame 334 may include a temperature sensor 342, a fan 344, and anair conditioning (AC) vent 346. The temperature sensor 342 can beconfigured to measure a temperature of the sensor enclosure 300. Ingeneral, the temperature sensor 342 can be placed anywhere on the frame334 that is representative of the enclosure temperature. In a typicalimplementation, the temperature sensor 342 is placed in a region inwhich heat generated by the LiDAR sensor 330 and the plurality ofcameras 332 are most localized. In the example of FIG. 3, thetemperature sensor 342 is placed on the lower base plate of the frame334, right behind the three front cameras. The fan 344 can be configuredto draw an inlet airflow from an external source. The fan 344, invarious implementations, works in conjunction with the temperaturesensor 342 to maintain a steady temperature condition inside the sensorenclosure 300. The fan 344 can vary its rotation speed depending on theenclosure temperature. For example, when the enclosure temperature ishigh, as measured by the temperature sensor 342, the fan 344 mayincrease its rotation speed to draw additional volume of air to lowerthe temperature of the enclosure 300 and thus cooling the sensors.Similarly, when the temperature of the enclosure 300 is low, the fan 344does not need to operate as fast. The fan 344 may be located centrallyon the lower base plate of the frame 334. The AC vent 346 may be a duct,tube, or a conduit that conveys cooling air into the sensor enclosure300. In an embodiment, the AC vent 346 may be connected to a cabin ofthe autonomous vehicle. In another embodiment, the AC vent 346 may beconnected to a separate air conditioner unit that provides cooling airseparate from the cabin of the autonomous vehicle.

In some embodiments, the frame 334 can also include a powertrain. Thepowertrain is an electric motor coupled to a drivetrain comprising oneor more gears. The powertrain can rotate the ring 336 clockwise orcounter-clockwise. In various embodiments, the electric motor can be adirect current brush or brushless motor, or an alternate currentsynchronous or asynchronous motor. Many variations are possible. Invarious embodiments, the one or more gears of the drivetrain can beconfigured to have various gear ratios designed to provide variousamounts of torque delivery and rotational speed.

In general, the frame 334 can be made from any suitable materials thatcan withstand extreme temperature swings and weather variousenvironmental conditions (e.g., rain, snow, corrosion, oxidation, etc.).The frame 334 can be fabricated using various metal alloys (e.g.,aluminum alloys, steel alloys, etc.). The frame 334 can also befabricated with three dimensional printers using thermoplastics (e.g.,polylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, thermoplastic elastomer, etc.). Similarly, the air duct 346can be made from rigid materials (e.g., hard plastics, polyurethane,metal alloys, etc.) or semi-rigid materials (e.g., rubber, silicone,etc.). Many variations are possible.

The ring 336 can provide mounting points for the cover 362 to encase theinternal structure 304 of the sensor enclosure 300. In the example ofFIG. 3, the ring 336 has an outer portion that includes attaching points348 through which the cover 362 can be attached and secured. The ring336 also has an inner portion that comprises gear teeth 350 (or cogs)such that when the gear teeth 350 is driven by the powertrain of theframe 334, the whole ring 336 rotates as a result.

Similar to the frame 334, the ring 336 can be made from any suitablematerial that can withstand extreme temperature swings and weathervarious environmental conditions. However, in most implementations, thesuitable material for the ring 336 must be somewhat more durable thanthe material used for the frame 334. This is because the gear teeth 350of the ring 336 are subject to more wear and tear from being coupled tothe powertrain of the frame 334. The ring 336 can be fabricated usingvarious metal alloys (e.g., carbon steel, alloy steel, etc.). The ring336 can also be fabricated with three dimensional printers usingthermoplastics (e.g., polylactic acid, acrylonitrile butadiene styrene,polyamide, high impact polystyrene, thermoplastic elastomer, etc.).

The plurality of the anchoring posts 338 can provide mechanicalcouplings to secure or mount the sensor enclosure 300 to an autonomousvehicle. In general, any number of anchoring posts 338 may be used. Inthe example of FIG. 3, the sensor enclosure 300 is shown with eightanchoring posts: four anchoring posts to secure the frame 334 to theautonomous vehicle and four anchoring posts to secure the ring 336 tothe autonomous vehicle. Similar to the frame 334 and the ring 336, theplurality of the anchoring posts 338 can be made from any suitablematerials and fabricated using metal alloys (e.g., carbon steel, alloysteel, etc.) or three dimensional printed with thermoplastics (e.g.,polylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, thermoplastic elastomer, etc.).

A first vent 354 and/or a second vent 356 may be disposed on the cover362. For example, the first vent 354 may be disposed on near the frame344 or between the upper base plate of the frame 334 and the lower baseplate of the frame 334. For example, the second vent 356 may be disposedat or near the top of the cover 362. The first vent 354 allows air fromoutside to flow into the enclosure 300, and may be used to preventhumidification and/or overheating. The second vent 356 allows warm/hotair to be expelled from the enclosure 300. The first vent 354 and/or thesecond vent 356 may be conducive to laminar flow of air. For example, aboundary layer created by the air entering and the first vent 354 wouldbe laminar so that the boundary layer does not create turbulent flow.The first vent 354 and/or the second vent 356 may comprise a smoothorifice, and may be shaped to have a circular or elliptical crosssection. The first vent 354 and/or the second vent 356 may be shaped sothat the Reynolds number of air flowing through the second vent 356 maybe at most 2000, to create laminar flow. In some embodiments, theReynolds number of air flowing through the first vent 354 and/or thesecond vent 356 may be at most 3000, or at most 1000.

A controller 352 may be disposed on the frame 334, the upper base plateof the frame 334, or the lower base plate of the frame 334. Thecontroller 352 may control the operations of one of more of the LiDARsensor 330, the cameras 332, the temperature sensor 342, the fan 344,the AC vent 346, the first vent 354, and/or the second vent 356.

For example, the controller 352 may regulate a rotation speed of the fan344 based on a speed of the vehicle, a temperature measured by thetemperature sensor 342, an external temperature, or a difference betweenthe temperature measured by the temperature sensor 342 and the externaltemperature, and operate the fan 344 at the regulated rotation speed.For example, the controller 352 may regulate a rotation speed of the fan344 based on any combination of the aforementioned factors. For example,the controller 352 may regulate a rotation speed of the fan 344 based ona level of wind external to the enclosure 300. For example, the level ofwind may be determined by an amount of airflow entering through thefirst vent 354. For example, if enough air is entering through the firstvent 354 to provide cooling and/or ventilation, the controller 352 mayreduce the rotation speed of the fan 344 or shut off the fan 344.Furthermore, the controller 352 may, in addition to, or instead of,regulating the rotation speed of the fan 344, regulate an amount of airentering from the AC vent 346, for example, depending or based on howmuch cooling is required for one or more of the sensors of the enclosure300. For example, the controller 352 may regulate the amount of airentering into the AC vent 346 based on one or more of, or anycombination of, the speed of the autonomous vehicle, the temperaturemeasured by the temperature sensor 342, the external temperature, thedifference between the temperature measured by the temperature sensor342 and the external temperature, or based on an internal temperature ofthe LiDAR sensor 330 or the cameras 332 (which may indicate how heavilythe LiDAR sensor 330 or the cameras 332 are being used). For example,the controller 352 may regulate the amount of air entering into the ACvent 346 by adjusting a size of an opening of the AC vent 346 (e.g., aradius of the opening of the AC vent 346, or by regulating an amount ofair extracted into the AC vent 346. In another embodiment, thecontroller 352 may regulate an amount of air entering from the AC vent346 based on the rotation speed of the fan 344. For example, in oneembodiment, if the rotation speed of the fan 344 is increased, thecontroller 352 may reduce the amount of air entering into the AC vent346 because adequate cooling of the enclosure 300 may already beprovided by the fan 344. In one embodiment, the controller 352 mayselect between using the fan 344 and the AC vent 346 to cool theenclosure 300. For example, the controller 352 may select between usingthe fan 344 and the AC vent 346 to cool the enclosure 300 based on whichmethod is more energy efficient. In one embodiment, the controller 352may select using the fan 344 when an amount of cooling to be provided(e.g. which may correspond to the temperature measured by temperaturesensor 342) is lower than a threshold (e.g., first threshold) and usingthe AC vent 346 when the amount of cooling to be provided is greaterthan the threshold (e.g., first threshold). On the other hand, if theoperation of the fan 344 at high rotation speed itself generates heatinternally for the fan 344, the controller 352 may increase the amountof air entering into, or permit air to enter through, the AC vent 346 toprovide cooling for the fan 344. Thus, the controller 352 may increasethe amount of air entering into the AC vent 346 as the rotation speed ofthe fan 344 is increased.

The controller 352 may further adjust a rotation speed of the fan 344,and/or an amount of air entering the AC vent 346, based on one or anycombination of predicted future conditions, such as anticipated speed,anticipated external temperature, or anticipated internal temperature ofthe enclosure 300. For example, if the controller 352 predicts, based ona navigation route selected, or weather forecast, that the temperatureat a destination is high, the controller may preemptively precool theenclosure 300 by increasing the rotation speed of the fan 344 orincreasing the amount of air entering the AC vent 346. As anotherexample, if the controller 352 predicts that the LiDAR sensor 330 or thecameras 332 will be heavily used in a near future, the controller maypreemptively precool the enclosure 300 by increasing the rotation speedof the fan 344 or increasing the amount of air entering the AC vent 346.As another example, if the controller 352 predicts that the vehiclespeed will increase based on a type of road (e.g., highway), trafficconditions, road conditions, and/or amount of battery/gasolineremaining, the controller may preemptively precool the enclosure 300 byincreasing the rotation speed of the fan 344 or increasing the amount ofair entering the AC vent 346.

Optionally, the enclosure 300 also comprises a filter 360 to filterdebris. In one embodiment, the filter 360 is a HEPA filter. The filter360 may be disposed on an upper base plate of the frame 334, a lowerbase plate of the frame 334, or the frame 334. The activity of thefilter 360 may be controlled by the controller 352. For example, if adetected level of debris is high, the controller 352 may increase anactivity level of the filter 360 (e.g. a heavy-duty mode). In contrast,if a detected level of debris is low, the controller 352 may decrease anactivity level of the filter 360 (e.g. a light-duty mode). As anotherexample, the filter 360 may be disposed at an inlet of the first vent354.

FIG. 4 illustrates an example of a sensor enclosure 400 for a sensorsystem (e.g. sensor system 180), according to an embodiment of thepresent disclosure. In some embodiments, the sensor system 180 of FIG.1C can be implemented as part of the sensor enclosure 400 of FIG. 4.FIG. 4 may include a cover 462 to encase a sensor system, which mayinclude LiDAR sensor 430 and cameras 432. For example, the cover 462 maybe detachable or removable to allow easy access to the sensor system. Insome embodiments, the cover 462 can rotate circularly, or in threehundred sixty degrees, relative to the sensor system about a centralvertical axis of the cover 462. In some embodiments, the cover 462 mayhave a profile or shape that has a low wind resistance or coefficient ofdrag, and thereby reducing negative impacts to fuel economy of theautonomous vehicle. For example, the cover 462 may have a smooth surfaceso that a boundary layer formed between the air and the cover 462 wouldbe laminar rather than turbulent. For example, the cover 462 may have asleek angular profile. In some embodiments, the outer contour of thecover 462 can have multiple distinct sections (e.g., portions, regions,etc.) with different shapes. For example, a top portion of the cover 462may have a circular dome shape with a first diameter measured at a baseof the top portion and may encase the LiDAR sensor 430 of the autonomousvehicle. A middle portion of the cover 462 directly below the topportion may have a trapezoidal or truncated cone shape with a seconddiameter measured at a base on the middle portion, and the seconddiameter may be larger than the first diameter. A lower portion of thecover 462 directly below the middle portion may have a trapezoidal ortruncated cone shape with a third diameter measured at a base on thelower portion. The third diameter may be larger than the seconddiameter. In other embodiments, the cover 462 may be entirely comprisedof a single shape, such as a circular dome shape, a trapezoidal ortruncated cone shape.

The cover 462 may be made from any suitable material that allows the oneor more sensors of the sensor enclosure 400 to properly function whileshielding the one or more sensors from environmental elements (e.g.,rain, snow, moisture, wind, dust, radiation, oxidation, etc.). Further,the suitable material must be transparent to wavelengths of light orelectro-magnetic waves receptive to the LiDAR sensor 430 and theplurality of cameras 432. For example, for the LiDAR sensor 430 toproperly operate, the cover 462 must allow laser pulses emitted from theLiDAR sensor 430 to pass through the cover 462 to reach a target andthen reflect back through the cover 462 and back to the LiDAR sensor430. Similarly, for the plurality of cameras 432 to properly operate,the cover 462 must allow visible light to enter. In addition to beingtransparent to wavelengths of light, the suitable material must also beable to withstand potential impacts from roadside debris without causingdamages to the LiDAR sensor 430 or the plurality of cameras 432. In animplementation, the cover 462 can be made of acrylic glass (e.g., Cylux,Plexiglas, Acrylite, Lucite, Perspex, etc.). In another implementation,the cover 462 can be made of strengthen glass (e.g., Coring® Gorilla®glass). In yet another implementation, the cover 362 can be made oflaminated safety glass held in place by layers of polyvinyl butyral(PVB), ethylene-vinyl acetate (EVA), or other similar chemicalcompounds. Many implementations are possible and contemplated.

In some embodiments, the cover 462 can be tinted with a thin-film neuralfilter to reduce transmittance of light entering the cover 462. Forexample, in an embodiment, a lower portion of the cover 462 can beselectively tinted with the thin-film neutral filter to reduce anintensity of visible light seen by the plurality of cameras 432. In thisexample, transmittance of laser pulses emitted from the LiDAR sensor 430is not be affected by the tint because only the lower portion of thecover 442 is tinted. In another embodiment, the lower portion of thecover 462 can be tinted with a thin-film graduated neural filter inwhich the transmittance of visible light can vary along an axis. In yetanother embodiment, the whole cover 462 can be treated or coated with areflective coating such that the components of the sensor enclosure 400is not visible from an outside vantage point while still beingtransparent to wavelengths of light receptive to the LiDAR sensor 430and the plurality of cameras 432. Many variations, such as adding apolarization layer or an anti-reflective layer, are possible andcontemplated.

In some embodiments, the enclosure 400 may comprise a frame 434, a ring436, and a plurality of anchoring posts 438. The frame 434 providesmechanical support for the LiDAR sensor 430 and the plurality of cameras432. The ring 436 provides mounting points for the cover 462 such thatthe cover 462 encases and protects the sensor system from environmentalelements. The plurality of anchoring posts 438 provides mechanicalcouplings to secure or mount the sensor enclosure 400 to the autonomousvehicle.

In some embodiments, the frame 434 may have two base plates held inplace by struts 440. An upper base plate of the frame 434 may provide amounting surface for the LiDAR sensor 430 while a lower base plate ofthe frame 434 may provide a mounting surface for the plurality ofcameras 432. In general, any number of LiDAR sensors 430 and cameras 432may be mounted to the frame 434. The frame 434 is not limited to havingone LiDAR sensor and six cameras as shown in FIG. 4. For example, in anembodiment, the frame 434 can have more than two base plates held inplace by the struts 440. In this example, the frame 434 may have threebase plates with upper two base plates reserved for two LiDAR sensors430 and a lower base plate for six cameras 432. In another embodiment,the lower base plate can have more than six cameras 432. For instance,there can be three cameras pointed in a forward direction of anautonomous vehicle, two cameras pointed to in a right and a leftdirection of the autonomous vehicle, and two cameras pointed in areverse direction of the autonomous vehicle. Many variations arepossible.

The frame 434 may include a temperature sensor 442, a fan 444, and anair conditioning (AC) vent 446. The temperature sensor 442 can beconfigured to measure a temperature of the sensor enclosure 400. Ingeneral, the temperature sensor 442 can be placed anywhere on the frame434 that is representative of the enclosure temperature. In a typicalimplementation, the temperature sensor 442 is placed in a region inwhich heat generated by the LiDAR sensor 430 and the plurality ofcameras 432 are most localized. In the example of FIG. 4, thetemperature sensor 442 is placed on the lower base plate of the frame434, right behind the three front cameras. The fan 444 can be configuredto draw an inlet airflow from an external source. The fan 444, invarious implementations, works in conjunction with the temperaturesensor 442 to maintain a steady temperature condition inside the sensorenclosure 400. The fan 444 can vary its rotation speed depending on theenclosure temperature. For example, when the enclosure temperature ishigh, as measured by the temperature sensor 442, the fan 444 mayincrease its rotation speed to draw additional volume of air to lowerthe temperature of the enclosure 400 and thus cooling the sensors.Similarly, when the temperature of the enclosure 400 is low, the fan 444does not need to operate as fast. The fan 444 may be located centrallyon the lower base plate of the frame 434. The AC vent 446 may be a duct,tube, or a conduit that conveys cooling air into the sensor enclosure400. In an embodiment, the AC vent 446 may be connected to a cabin ofthe autonomous vehicle. In another embodiment, the AC vent 446 may beconnected to a separate air conditioner unit that provides cooling airseparate from the cabin of the autonomous vehicle.

In some embodiments, the frame 434 can also include a powertrain. Thepowertrain is an electric motor coupled to a drivetrain comprising oneor more gears. The powertrain can rotate the ring 436 clockwise orcounter-clockwise. In various embodiments, the electric motor can be adirect current brush or brushless motor, or an alternate currentsynchronous or asynchronous motor. Many variations are possible. Invarious embodiments, the one or more gears of the drivetrain can beconfigured to have various gear ratios designed to provide variousamounts of torque delivery and rotational speed.

In general, the frame 434 can be made from any suitable materials thatcan withstand extreme temperature swings and weather variousenvironmental conditions (e.g., rain, snow, corrosion, oxidation, etc.).The frame 434 can be fabricated using various metal alloys (e.g.,aluminum alloys, steel alloys, etc.). The frame 434 can also befabricated with three dimensional printers using thermoplastics (e.g.,polylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, thermoplastic elastomer, etc.). Similarly, the air duct 446can be made from rigid materials (e.g., hard plastics, polyurethane,metal alloys, etc.) or semi-rigid materials (e.g., rubber, silicone,etc.). Many variations are possible.

The ring 436 can provide mounting points for the cover 362 to encase theinternal structure 304 of the sensor enclosure 400. In the example ofFIG. 4, the ring 436 has an outer portion that includes attaching points448 through which the cover 362 can be attached and secured. The ring436 also has an inner portion that comprises gear teeth 450 (or cogs)such that when the gear teeth 450 is driven by the powertrain of theframe 434, the whole ring 436 rotates as a result.

Similar to the frame 434, the ring 436 can be made from any suitablematerial that can withstand extreme temperature swings and weathervarious environmental conditions. However, in most implementations, thesuitable material for the ring 436 must be somewhat more durable thanthe material used for the frame 434. This is because the gear teeth 450of the ring 436 are subject to more wear and tear from being coupled tothe powertrain of the frame 434. The ring 436 can be fabricated usingvarious metal alloys (e.g., carbon steel, alloy steel, etc.). The ring436 can also be fabricated with three dimensional printers usingthermoplastics (e.g., polylactic acid, acrylonitrile butadiene styrene,polyamide, high impact polystyrene, thermoplastic elastomer, etc.).

The plurality of the anchoring posts 438 can provide mechanicalcouplings to secure or mount the sensor enclosure 400 to an autonomousvehicle. In general, any number of anchoring posts 438 may be used. Inthe example of FIG. 4, the sensor enclosure 400 is shown with eightanchoring posts: four anchoring posts to secure the frame 434 to theautonomous vehicle and four anchoring posts to secure the ring 436 tothe autonomous vehicle. Similar to the frame 434 and the ring 436, theplurality of the anchoring posts 438 can be made from any suitablematerials and fabricated using metal alloys (e.g., carbon steel, alloysteel, etc.) or three dimensional printed with thermoplastics (e.g.,polylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, thermoplastic elastomer, etc.).

A first vent 454 and/or a second vent 456 may be disposed on the cover462. For example, the first vent 454 may be disposed on near the frame444 or between the upper base plate of the frame 434 and the lower baseplate of the frame 434. For example, the second vent 456 may be disposedat or near the top of the cover 462. The first vent 454 allows air fromoutside to flow into the enclosure 400, and may be used to preventhumidification and/or overheating. The second vent 456 allows warm/hotair to be expelled from the enclosure 400. The first vent 454 and/or thesecond vent 456 may be conducive to laminar flow of air. For example, aboundary layer created by the air entering and the first vent 454 wouldbe laminar so that the boundary layer does not create turbulent flow.The first vent 454 and/or the second vent 456 may comprise a smoothorifice, and may be shaped to have a circular or elliptical crosssection. The first vent 454 and/or the second vent 456 may be shaped sothat the Reynolds number of air flowing through the second vent 456 maybe at most 2000, to create laminar flow. In some embodiments, theReynolds number of air flowing through the first vent 454 and/or thesecond vent 456 may be at most 3000, or at most 1000.

The second vent 456 may further comprise a moisture absorbent material458 at or near an outlet of the second vent 456. The moisture absorbentmaterial 458 may be desiccant. The moisture absorbent material 458 maybe impermeable to liquid and permeable to air. For example, in rainyconditions, the moisture absorbent material 458 may absorb rainwater andnot permit the rainwater to seep into the enclosure 400. Optionally, thefirst vent 454 may also comprise a moisture absorbent material at ornear an inlet of the first vent 454.

A controller 452 may be disposed on the frame 434, the upper base plateof the frame 434, or the lower base plate of the frame 434. Thecontroller 452 may control the operations of one of more of the LiDARsensor 430, the cameras 432, the temperature sensor 442, the fan 444,the AC vent 446, the first vent 454, and/or the second vent 456.

For example, the controller 452 may regulate a rotation speed of the fan444 based on a speed of the vehicle, a temperature measured by thetemperature sensor 442, an external temperature, or a difference betweenthe temperature measured by the temperature sensor 442 and the externaltemperature, and operate the fan 444 at the regulated rotation speed.For example, the controller 452 may regulate a rotation speed of the fan444 based on any combination of the aforementioned factors. For example,the controller 452 may regulate a rotation speed of the fan 444 based ona level of wind external to the enclosure 400. For example, the level ofwind may be determined by an amount of airflow entering through thefirst vent 454. For example, if enough air is entering through the firstvent 454 to provide cooling and/or ventilation, the controller 452 mayreduce the rotation speed of the fan 444 or shut off the fan 444.Furthermore, the controller 452 may, in addition to, or instead of,regulating the rotation speed of the fan 444, regulate an amount of airentering from the AC vent 446, for example, depending or based on howmuch cooling is required for one or more of the sensors of the enclosure400. For example, the controller 452 may regulate the amount of airentering into the AC vent 446 based on one or more of, or anycombination of, the speed of the autonomous vehicle, the temperaturemeasured by the temperature sensor 442, the external temperature, thedifference between the temperature measured by the temperature sensor442 and the external temperature, or based on an internal temperature ofthe LiDAR sensor 430 or the cameras 432 (which may indicate how heavilythe LiDAR sensor 430 or the cameras 432 are being used). For example,the controller 452 may regulate the amount of air entering into the ACvent 446 by adjusting a size of an opening of the AC vent 446 (e.g., aradius of the opening of the AC vent 446, or by regulating an amount ofair extracted into the AC vent 446. In another embodiment, thecontroller 452 may regulate an amount of air entering from the AC vent446 based on the rotation speed of the fan 444. For example, in oneembodiment, if the rotation speed of the fan 444 is increased, thecontroller 452 may reduce the amount of air entering into the AC vent446 because adequate cooling of the enclosure 400 may already beprovided by the fan 444. In one embodiment, the controller 452 mayselect between using the fan 444 and the AC vent 446 to cool theenclosure 400. For example, the controller 452 may select between usingthe fan 444 and the AC vent 446 to cool the enclosure 400 based on whichmethod is more energy efficient. In one embodiment, the controller 452may select using the fan 444 when an amount of cooling to be provided(e.g. which may correspond to the temperature measured by temperaturesensor 442) is lower than a threshold (e.g., first threshold) and usingthe AC vent 446 when the amount of cooling to be provided is greaterthan the threshold (e.g., first threshold). On the other hand, if theoperation of the fan 444 at high rotation speed itself generates heatinternally for the fan 444, the controller 452 may increase the amountof air entering into the AC vent 446 to provide cooling for the fan 444.Thus, the controller 452 may increase the amount of air entering intothe AC vent 446 as the rotation speed of the fan 444 is increased.

The controller 452 may further adjust a rotation speed of the fan 444,and/or an amount of air entering the AC vent 446, based on one or anycombination of predicted future conditions, such as anticipated speed,anticipated external temperature, or anticipated internal temperature ofthe enclosure 400. For example, if the controller 452 predicts, based ona navigation route selected, or weather forecast, that the temperatureat a destination is high, the controller may preemptively precool theenclosure 400 by increasing the rotation speed of the fan 444 orincreasing the amount of air entering the AC vent 446. As anotherexample, if the controller 452 predicts that the LiDAR sensor 430 or thecameras 432 will be heavily used in a near future, the controller maypreemptively precool the enclosure 400 by increasing the rotation speedof the fan 444 or increasing the amount of air entering the AC vent 446.As another example, if the controller 452 predicts that the vehiclespeed will increase based on a type of road (e.g., highway), trafficconditions, road conditions, and/or amount of battery/gasolineremaining, the controller may preemptively precool the enclosure 400 byincreasing the rotation speed of the fan 444 or increasing the amount ofair entering the AC vent 446.

The controller 452 may further monitor a dampness of the moistureabsorbent material 458 to determine when it should be replaced.

Optionally, the enclosure 400 also comprises a filter 460 to filterdebris. In one embodiment, the filter 460 is a HEPA filter. The filter460 may be disposed on an upper base plate of the frame 434, a lowerbase plate of the frame 434, or the frame 434. The activity of thefilter 460 may be controlled by the controller 452. For example, if adetected level of debris is high, the controller 452 may increase anactivity level of the filter 460 (e.g. a heavy-duty mode). In contrast,if a detected level of debris is low, the controller 452 may decrease anactivity level of the filter 460 (e.g. a light-duty mode). As anotherexample, the filter 460 may be disposed at an inlet of the first vent454. The controller 452 may further monitor a condition of the filter460 to determine when it should be replaced.

FIG. 5 illustrates an example of a sensor enclosure 500 for a sensorsystem (e.g. sensor system 180), according to an embodiment of thepresent disclosure. In some embodiments, the sensor system 180 of FIG.1C can be implemented as part of the sensor enclosure 500 of FIG. 5.FIG. 5 may include a cover 562 to encase a sensor system, which mayinclude LiDAR sensor 530 and cameras 532. For example, the cover 562 maybe detachable or removable to allow easy access to the sensor system. Insome embodiments, the cover 562 can rotate circularly, or in threehundred sixty degrees, relative to the sensor system about a centralvertical axis of the cover 562. In some embodiments, the cover 562 mayhave a profile or shape that has a low wind resistance or coefficient ofdrag, and thereby reducing negative impacts to fuel economy of theautonomous vehicle. For example, the cover 562 may have a smooth surfaceso that a boundary layer formed between the air and the cover 562 wouldbe laminar rather than turbulent. For example, the cover 562 may have asleek angular profile. In some embodiments, the outer contour of thecover 562 can have multiple distinct sections (e.g., portions, regions,etc.) with different shapes. For example, a top portion of the cover 562may have a circular dome shape with a first diameter measured at a baseof the top portion and may encase the LiDAR sensor 530 of the autonomousvehicle. A middle portion of the cover 562 directly below the topportion may have a trapezoidal or truncated cone shape with a seconddiameter measured at a base on the middle portion, and the seconddiameter may be larger than the first diameter. A lower portion of thecover 562 directly below the middle portion may have a trapezoidal ortruncated cone shape with a third diameter measured at a base on thelower portion. The third diameter may be larger than the seconddiameter. In other embodiments, the cover 562 may be entirely comprisedof a single shape, such as a circular dome shape, a trapezoidal ortruncated cone shape.

The cover 562 may be made from any suitable material that allows the oneor more sensors of the sensor enclosure 500 to properly function whileshielding the one or more sensors from environmental elements (e.g.,rain, snow, moisture, wind, dust, radiation, oxidation, etc.). Further,the suitable material must be transparent to wavelengths of light orelectro-magnetic waves receptive to the LiDAR sensor 530 and theplurality of cameras 532. For example, for the LiDAR sensor 530 toproperly operate, the cover 562 must allow laser pulses emitted from theLiDAR sensor 530 to pass through the cover 562 to reach a target andthen reflect back through the cover 562 and back to the LiDAR sensor530. Similarly, for the plurality of cameras 532 to properly operate,the cover 562 must allow visible light to enter. In addition to beingtransparent to wavelengths of light, the suitable material must also beable to withstand potential impacts from roadside debris without causingdamages to the LiDAR sensor 530 or the plurality of cameras 532. In animplementation, the cover 562 can be made of acrylic glass (e.g., Cylux,Plexiglas, Acrylite, Lucite, Perspex, etc.). In another implementation,the cover 562 can be made of strengthen glass (e.g., Coring® Gorilla®glass). In yet another implementation, the cover 362 can be made oflaminated safety glass held in place by layers of polyvinyl butyral(PVB), ethylene-vinyl acetate (EVA), or other similar chemicalcompounds. Many implementations are possible and contemplated.

In some embodiments, the cover 562 can be tinted with a thin-film neuralfilter to reduce transmittance of light entering the cover 562. Forexample, in an embodiment, a lower portion of the cover 562 can beselectively tinted with the thin-film neutral filter to reduce anintensity of visible light seen by the plurality of cameras 532. In thisexample, transmittance of laser pulses emitted from the LiDAR sensor 530is not be affected by the tint because only the lower portion of thecover 542 is tinted. In another embodiment, the lower portion of thecover 562 can be tinted with a thin-film graduated neural filter inwhich the transmittance of visible light can vary along an axis. In yetanother embodiment, the whole cover 562 can be treated or coated with areflective coating such that the components of the sensor enclosure 500is not visible from an outside vantage point while still beingtransparent to wavelengths of light receptive to the LiDAR sensor 530and the plurality of cameras 532. Many variations, such as adding apolarization layer or an anti-reflective layer, are possible andcontemplated.

In some embodiments, the enclosure 500 may comprise a frame 534, a ring536, and a plurality of anchoring posts 538. The frame 534 providesmechanical support for the LiDAR sensor 530 and the plurality of cameras532. The ring 536 provides mounting points for the cover 562 such thatthe cover 562 encases and protects the sensor system from environmentalelements. The plurality of anchoring posts 538 provides mechanicalcouplings to secure or mount the sensor enclosure 500 to the autonomousvehicle.

In some embodiments, the frame 534 may have two base plates held inplace by struts 540. An upper base plate of the frame 534 may provide amounting surface for the LiDAR sensor 530 while a lower base plate ofthe frame 534 may provide a mounting surface for the plurality ofcameras 532. In general, any number of LiDAR sensors 530 and cameras 532may be mounted to the frame 534. The frame 534 is not limited to havingone LiDAR sensor and six cameras as shown in FIG. 5. For example, in anembodiment, the frame 534 can have more than two base plates held inplace by the struts 540. In this example, the frame 534 may have threebase plates with upper two base plates reserved for two LiDAR sensors530 and a lower base plate for six cameras 532. In another embodiment,the lower base plate can have more than six cameras 532. For instance,there can be three cameras pointed in a forward direction of anautonomous vehicle, two cameras pointed to in a right and a leftdirection of the autonomous vehicle, and two cameras pointed in areverse direction of the autonomous vehicle. Many variations arepossible.

The frame 534 may include a temperature sensor 542, a fan 544, and anair conditioning (AC) vent 546. The temperature sensor 542 can beconfigured to measure an interior temperature of the sensor enclosure500. In general, the temperature sensor 542 can be placed anywhere onthe frame 534 that is representative of the enclosure temperature. In atypical implementation, the temperature sensor 542 is placed in a regionin which heat generated by the LiDAR sensor 530 and the plurality ofcameras 532 are most localized. In the example of FIG. 5, thetemperature sensor 542 is placed on the lower base plate of the frame534, right behind the three front cameras. The fan 544 can be configuredto draw an inlet airflow from an external source. The fan 544, invarious implementations, works in conjunction with the temperaturesensor 542 to maintain a steady temperature condition inside the sensorenclosure 500. The fan 544 can vary its rotation speed depending on theenclosure temperature. For example, when the enclosure temperature ishigh, as measured by the temperature sensor 542, the fan 544 mayincrease its rotation speed to draw additional volume of air to lowerthe temperature of the enclosure 500 and thus cooling the sensors.Similarly, when the temperature of the enclosure 500 is low, the fan 544does not need to operate as fast. The fan 544 may be located centrallyon the lower base plate of the frame 534. The AC vent 546 may be a duct,tube, or a conduit that conveys cooling air into the sensor enclosure500. In an embodiment, the AC vent 546 may be connected to a cabin ofthe autonomous vehicle. In another embodiment, the AC vent 546 may beconnected to a separate air conditioner unit that provides cooling airseparate from the cabin of the autonomous vehicle.

In some embodiments, the frame 534 can also include a powertrain. Thepowertrain is an electric motor coupled to a drivetrain comprising oneor more gears. The powertrain can rotate the ring 536 clockwise orcounter-clockwise. In various embodiments, the electric motor can be adirect current brush or brushless motor, or an alternate currentsynchronous or asynchronous motor. Many variations are possible. Invarious embodiments, the one or more gears of the drivetrain can beconfigured to have various gear ratios designed to provide variousamounts of torque delivery and rotational speed.

In general, the frame 534 can be made from any suitable materials thatcan withstand extreme temperature swings and weather variousenvironmental conditions (e.g., rain, snow, corrosion, oxidation, etc.).The frame 534 can be fabricated using various metal alloys (e.g.,aluminum alloys, steel alloys, etc.). The frame 534 can also befabricated with three dimensional printers using thermoplastics (e.g.,polylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, thermoplastic elastomer, etc.). Similarly, the air duct 546can be made from rigid materials (e.g., hard plastics, polyurethane,metal alloys, etc.) or semi-rigid materials (e.g., rubber, silicone,etc.). Many variations are possible.

The ring 536 can provide mounting points for the cover 362 to encase theinternal structure 304 of the sensor enclosure 500. In the example ofFIG. 5, the ring 536 has an outer portion that includes attaching points548 through which the cover 362 can be attached and secured. The ring536 also has an inner portion that comprises gear teeth 550 (or cogs)such that when the gear teeth 550 is driven by the powertrain of theframe 534, the whole ring 536 rotates as a result.

Similar to the frame 534, the ring 536 can be made from any suitablematerial that can withstand extreme temperature swings and weathervarious environmental conditions. However, in most implementations, thesuitable material for the ring 536 must be somewhat more durable thanthe material used for the frame 534. This is because the gear teeth 550of the ring 536 are subject to more wear and tear from being coupled tothe powertrain of the frame 534. The ring 536 can be fabricated usingvarious metal alloys (e.g., carbon steel, alloy steel, etc.). The ring536 can also be fabricated with three dimensional printers usingthermoplastics (e.g., polylactic acid, acrylonitrile butadiene styrene,polyamide, high impact polystyrene, thermoplastic elastomer, etc.).

The plurality of the anchoring posts 538 can provide mechanicalcouplings to secure or mount the sensor enclosure 500 to an autonomousvehicle. In general, any number of anchoring posts 538 may be used. Inthe example of FIG. 5, the sensor enclosure 500 is shown with eightanchoring posts: four anchoring posts to secure the frame 534 to theautonomous vehicle and four anchoring posts to secure the ring 536 tothe autonomous vehicle. Similar to the frame 534 and the ring 536, theplurality of the anchoring posts 538 can be made from any suitablematerials and fabricated using metal alloys (e.g., carbon steel, alloysteel, etc.) or three dimensional printed with thermoplastics (e.g.,polylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, thermoplastic elastomer, etc.).

A first vent 554 and/or a second vent 556 may be disposed on the cover562. For example, the first vent 554 may be disposed on near the frame544 or between the upper base plate of the frame 534 and the lower baseplate of the frame 534. For example, the second vent 556 may be disposedat or near the top of the cover 562. The first vent 554 allows air fromoutside to flow into the enclosure 500, and may be used to preventhumidification and/or overheating. The second vent 556 allows warm/hotair to be expelled from the enclosure 500. The first vent 554 and/or thesecond vent 556 may be conducive to laminar flow of air. For example, aboundary layer created by the air entering and the first vent 554 wouldbe laminar so that the boundary layer does not create turbulent flow.The first vent 554 and/or the second vent 556 may comprise a smoothorifice, and may be shaped to have a circular or elliptical crosssection. The first vent 554 and/or the second vent 556 may be shaped sothat the Reynolds number of air flowing through the second vent 456 maybe at most 2000, to create laminar flow. In some embodiments, theReynolds number of air flowing through the first vent 554 and/or thesecond vent 556 may be at most 3000, or at most 1000.

The second vent 556 may further comprise a layer 560 at or near anoutlet of the second vent 556. The layer 560 may slide over and coverthe second vent 556 completely or partially (e.g., to prevent moisturefrom seeping in), or leave the second vent 556 completely open. Thelayer 560 may slide over the outlet of the second vent 556 to regulate asize (e.g. surface area) of the second vent 556 that is exposed to anoutside. For example, the layer 560 may expose the second vent 556 moreif the temperature of the enclosure 500 relative to an exteriortemperature is high, a speed of the vehicle is high, and/or an airquality (e.g., measured by an air quality index (AQI)) is high. Incontrast, the layer 560 may be positioned to cover the second vent 556more fully if the temperature of the enclosure 500 relative to anexterior temperature is low, a speed of the vehicle is low, and/or anair quality is low. The layer 560 may be positioned exterior to thecover 562 or interior to the cover 562. The layer 560 may comprise asame material as the cover 562, or a different material. For example,the layer 560 may be thinner and more flexible than the material of thecover 562. The layer 560 may be impermeable to moisture and permeable toair. A position of the layer 560 may be regulated by a controller 552. Asimilar layer may also be positioned at or near an inlet of the firstvent 554.

The controller 552 may be disposed on the frame 534, the upper baseplate of the frame 534, or the lower base plate of the frame 534. Thecontroller 552 may control the operations of one of more of the LiDARsensor 530, the cameras 532, the temperature sensor 542, the fan 544,the AC vent 546, the first vent 554, and/or the second vent 556.

For example, the controller 552 may regulate a rotation speed of the fan544 based on a speed of the vehicle, a temperature measured by thetemperature sensor 542, an external temperature, or a difference betweenthe temperature measured by the temperature sensor 542 and the externaltemperature, and operate the fan 544 at the regulated rotation speed.For example, the controller 552 may regulate a rotation speed of the fan544 based on any combination of the aforementioned factors. For example,the controller 552 may regulate a rotation speed of the fan 544 based ona level of wind external to the enclosure 500. For example, the level ofwind may be determined by an amount of airflow entering through thefirst vent 554. For example, if enough air is entering through the firstvent 554 to provide cooling and/or ventilation, the controller 552 mayreduce the rotation speed of the fan 544 or shut off the fan 544.Furthermore, the controller 552 may, in addition to, or instead of,regulating the rotation speed of the fan 544, regulate an amount of airentering from the AC vent 546, for example, depending or based on howmuch cooling is required for one or more of the sensors of the enclosure500. For example, the controller 552 may regulate the amount of airentering into the AC vent 546 based on one or more of, or anycombination of, the speed of the autonomous vehicle, the temperaturemeasured by the temperature sensor 542, the external temperature, thedifference between the temperature measured by the temperature sensor542 and the external temperature, or based on an internal temperature ofthe LiDAR sensor 530 or the cameras 532 (which may indicate how heavilythe LiDAR sensor 530 or the cameras 532 are being used). For example,the controller 552 may regulate the amount of air entering into the ACvent 546 by adjusting a size of an opening of the AC vent 546 (e.g., aradius of the opening of the AC vent 546, or by regulating an amount ofair extracted into the AC vent 546. In another embodiment, thecontroller 552 may regulate an amount of air entering from the AC vent546 based on the rotation speed of the fan 544. For example, in oneembodiment, if the rotation speed of the fan 544 is increased, thecontroller 552 may reduce the amount of air entering into the AC vent546 because adequate cooling of the enclosure 500 may already beprovided by the fan 544. In one embodiment, the controller 552 mayselect between using the fan 544 and the AC vent 546 to cool theenclosure 500. For example, the controller 552 may select between usingthe fan 544 and the AC vent 546 to cool the enclosure 500 based on whichmethod is more energy efficient. In one embodiment, the controller 552may select using the fan 544 when an amount of cooling to be provided(e.g. which may correspond to the temperature measured by temperaturesensor 542) is lower than a threshold (e.g., first threshold) and usingthe AC vent 546 when the amount of cooling to be provided is greaterthan the threshold (e.g., first threshold). On the other hand, if theoperation of the fan 544 at high rotation speed itself generates heatinternally for the fan 544, the controller 552 may increase the amountof air entering into the AC vent 546 to provide cooling for the fan 544.Thus, the controller 552 may increase the amount of air entering intothe AC vent 546 as the rotation speed of the fan 544 is increased.

The controller 552 may further adjust a rotation speed of the fan 544,and/or an amount of air entering the AC vent 546, based on one or anycombination of predicted future conditions, such as anticipated speed,anticipated external temperature, or anticipated internal temperature ofthe enclosure 500. For example, if the controller 552 predicts, based ona navigation route selected, or weather forecast, that the temperatureat a destination is high, the controller may preemptively precool theenclosure 500 by increasing the rotation speed of the fan 544 orincreasing the amount of air entering the AC vent 546. As anotherexample, if the controller 552 predicts that the LiDAR sensor 530 or thecameras 532 will be heavily used in a near future, the controller maypreemptively precool the enclosure 500 by increasing the rotation speedof the fan 544 or increasing the amount of air entering the AC vent 546.As another example, if the controller 552 predicts that the vehiclespeed will increase based on a type of road (e.g., highway), trafficconditions, road conditions, and/or amount of battery/gasolineremaining, the controller may preemptively precool the enclosure 500 byincreasing the rotation speed of the fan 544 or increasing the amount ofair entering the AC vent 546.

The controller 552 may further adjust a size of an inlet of the firstvent 554, and/or an outlet of the second vent 556. For example, thecontroller 552 may be programmed or configured to slide the layer 560over the outlet of the second vent 556 to adjust how much surface areaof the second vent 556 is exposed to outside. For example, thecontroller 552 may slide the layer 560 completely over the outlet of thesecond vent 556 when it is raining or snowing. In such conditions, thecontroller 552 may operate the AC vent 546 to provide cooling and/orventilation instead. As another example, the controller 552 may regulatethe size of the outlet of the second vent based on one or more of, orany combination of, the speed of the autonomous vehicle, the temperaturemeasured by the temperature sensor 542, the external temperature, thedifference between the temperature measured by the temperature sensor542 and the external temperature, or based on an internal temperature ofthe LiDAR sensor 530 or the cameras 532. For example, the controller 552may expose the second vent 556 more without covering it with the layer560 if the temperature of the enclosure 500 relative to an exteriortemperature is high, a speed of the vehicle is high, and/or an airquality (e.g., measured by an air quality index (AQI)) is high. Incontrast, the controller 552 may slide the layer 560 to cover the secondvent 556 more fully if the temperature of the enclosure 500 relative toan exterior temperature is low, a speed of the vehicle is low, and/or anair quality is low. Therefore, the controller 552 may adjust an amountof airflow through the first vent 554 and/or the second vent 556 basedon the air quality. The controller 552 may perform similar operationswith a layer at the first vent 554.

The controller 552 may further monitor a dampness of the moistureabsorbent material 558 to determine when it should be replaced.

Optionally, the enclosure 500 also comprises a filter 560 to filterdebris. In one embodiment, the filter 560 is a HEPA filter. The filter560 may be disposed on an upper base plate of the frame 534, a lowerbase plate of the frame 534, or the frame 534. The activity of thefilter 560 may be controlled by the controller 552. For example, if adetected level of debris is high, the controller 552 may increase anactivity level of the filter 560 (e.g. a heavy-duty mode). In contrast,if a detected level of debris is low, the controller 552 may decrease anactivity level of the filter 560 (e.g. a light-duty mode). As anotherexample, the filter 560 may be disposed at an inlet of the first vent554. The controller 552 may further monitor a condition of the filter560 to determine when it should be replaced.

FIG. 6 illustrates an exemplary diagram of inputs and outputs to acontroller of a sensor enclosure according to some embodiments. Forexample, inputs from a temperature sensor 604 (e.g., temperature sensor242, 342, 442, or 542), an exterior temperature sensor 606, and a speedsensor that senses a vehicle speed, may be provided to a controller 602(e.g., controller 252, 352, 452, 552). The controller 602 may furthertake an input from an air quality sensor. The controller 602 may, basedon the inputs, regulate a rotation speed of a fan 610 (e.g., fan 244,344, 444, or 544). The controller 602 may, based on the inputs, regulatea first vent 612 (e.g., first vent 354, 454, 554), second vent 614(e.g., second vent 356, 456, 556), and AC vent 616 (e.g., AC vent 246,346, 446, 546).

FIG. 7 depicts a flowchart of an example of a cooling method accordingto some embodiments. In this and other flowcharts, the flowchart 700illustrates by way of example a sequence of steps. It should beunderstood the steps may be reorganized for parallel execution, orreordered, as applicable. Moreover, some steps that could have beenincluded may have been removed to avoid providing too much informationfor the sake of clarity and some steps that were included could beremoved, but may have been included for the sake of illustrativeclarity. The description from other FIGS. may also be applicable to FIG.7.

In step 702, a sensor system (e.g., sensor system 180) housed in asensor enclosure (e.g., enclosure 200, 300, 400, 500) determines a speedof a vehicle, an internal temperature of an enclosure, and an externaltemperature. The sensor system provides the determined inputs to acontroller. In step 704, a controller (e.g., controller (e.g.,controller 252, 352, 452, 552) regulates a rotation speed of a fan(e.g., fan 244, 344, 444, 544) in the enclosure based on the speed ofthe vehicle, the internal temperature, the external temperature, or adifference between the internal temperature and the externaltemperature. In step 706, the controller operates the fan at theregulated rotation speed. The controller may constantly sample for theinputs and constantly regulate the rotation speed of the fan. In otherembodiments, the controller may constantly sample and periodicallyregulate the rotation speed of the fan.

FIG. 8 depicts a flowchart of an example of a cooling method of a sensorenclosure (e.g., enclosure 200, 300, 400, 500) housing a sensor system(e.g., sensor system 180) according to some embodiments. In step 802, acontroller (e.g., controller 252, 352, 452, 552) determines ananticipated speed of a vehicle and an anticipated future externaltemperature. For example, the controller may predict the anticipatedspeed of the vehicle based on a type of road (e.g., highway), trafficconditions, road conditions, a navigation route selected, and/or amountof battery/gasoline remaining. The controller may also predict theanticipated future external temperature using a weather forecast at oneor more destinations. In step 804, the controller regulates a rotationspeed of a fan (e.g., fan 244, 344, 444, 544) based on the anticipatedspeed and the anticipated external temperature. In step 806, thecontroller operates the fan at the regulated rotation speed.

FIG. 9 depicts a flowchart of an example of a cooling method of a sensorenclosure (e.g., enclosure 200, 300, 400, 500) housing a sensor system(e.g., sensor system 180) according to some embodiments. In step 902, acontroller (e.g., controller 252, 352, 452, 552) determines ananticipated speed of a vehicle and an anticipated future externaltemperature. For example, the controller may predict the anticipatedspeed of the vehicle based on a type of road (e.g., highway), trafficconditions, road conditions, a navigation route selected, and/or amountof battery/gasoline remaining. The controller may also predict theanticipated future external temperature using a weather forecast at oneor more destinations. In decision 904, the controller determines whetherthe anticipated speed is higher than a current speed. In step 906, thecontroller determines that the anticipated speed is higher than acurrent speed, and the controller precools the enclosure by increasing arotation speed of a fan (e.g., fan 244, 344, 444, 544) in the enclosure.In decision 908, the controller determines that the anticipated speed isnot higher than a current speed, and the controller further determinesif the anticipated external temperature is higher than a currentexternal temperature, for example, based on a weather forecast. In step910, the controller determines that the anticipated external temperatureis higher than a current external temperature, and the controllerprecools the enclosure by increasing a rotation speed of a fan in theenclosure. In step 912, the controller determines that the anticipatedexternal temperature is not higher than a current external temperature,and the controller does not precool the enclosure and keeps a constantrotation speed of a fan in the enclosure. In some embodiments, thecontroller may even reduce a rotation speed of a fan in the enclosure,based on a difference between anticipated external temperature andcurrent external temperature, and/or anticipated speed and currentspeed.

FIG. 10 depicts a flowchart of an example of a cooling method of asensor enclosure (e.g., enclosure 200, 300, 400, 500) housing a sensorsystem (e.g., sensor system 180) according to some embodiments. In step1002, a sensor system determines a speed of a vehicle, an internaltemperature of an enclosure, and an external temperature. The sensorsystem provides the determined inputs to a controller (e.g., controller252, 352, 452, 552). In step 1004, the controller regulates a rotationspeed of a fan (e.g., fan 244, 344, 444, 544) in the enclosure based onthe speed, the internal temperature, the external temperature, or adifference between the internal temperature and the externaltemperature. In step 1006, the controller operates the fan at theregulated rotation speed. The controller may constantly sample for theinputs and constantly regulate the rotation speed of the fan. In otherembodiments, the controller may constantly sample and periodicallyregulate the rotation speed of the fan. In step 1008, air flows into theenclosure at a first vent (e.g., first vent 354, 454, 554) and air(including heat) escapes at a second vent (e.g., second vent 356, 456,556). In step 1010, the controller detects whether moisture is presentat the second vent. In decision 1012, the controller determines whethermoisture is present at the second vent. In step 1014, the controllerdetermines that moisture is present at the second vent (e.g., amount ofmoisture detected exceeds a threshold) and closes the second vent toprevent moisture from seeping into the enclosure. As an example, thecontroller may close the second vent by sliding a layer (e.g., layer560) over the second vent. In step 1016, the controller opens an airconditioning (AC) vent (e.g., AC vent 246, 346, 446, 546) to provide forcooling and ventilation in lieu of the second vent. In step 1018, thecontroller determines that moisture is not present at the second vent(e.g., amount of moisture detected does not exceed a threshold) andkeeps the first vent and second vent open.

FIG. 11 depicts a flowchart of an example of a cooling method of asensor enclosure (e.g., enclosure 200, 300, 400, 500) housing a sensorsystem (e.g., sensor system 180) according to some embodiments. In step1102, a sensor system determines a speed of a vehicle, an internaltemperature of an enclosure, and an external temperature. The sensorsystem provides the determined inputs to a controller (e.g., controller252, 352, 452, 552). In step 1104, the controller regulates a rotationspeed of a fan (e.g., fan 244, 344, 444, 544) in the enclosure based onthe speed, the internal temperature, the external temperature, or adifference between the internal temperature and the externaltemperature. In step 1106, the controller operates the fan at theregulated rotation speed. The controller may constantly sample for theinputs and constantly regulate the rotation speed of the fan. In otherembodiments, the controller may constantly sample and periodicallyregulate the rotation speed of the fan. In step 1108, air flows into theenclosure at a first vent (e.g., first vent 354, 454, 554) and air(including heat) escapes at a second vent (e.g., second vent 356, 456,556). In step 1110, the controller adjusts a size (e.g., radius) of thefirst vent or a size of the second vent, based on the speed, theinternal temperature, the external temperature, a difference between theinternal temperature and the external temperature, or an air qualityindex. As an example, the controller may adjust a size of the secondvent by sliding a layer (e.g., layer 560) over the second vent.

Hardware Implementation

The techniques described herein are implemented by one or morespecial-purpose computing devices. The special-purpose computing devicesmay be hard-wired to perform the techniques, or may include circuitry ordigital electronic devices such as one or more application-specificintegrated circuits (ASICs) or field programmable gate arrays (FPGAs)that are persistently programmed to perform the techniques, or mayinclude one or more hardware processors programmed to perform thetechniques pursuant to program instructions in firmware, memory, otherstorage, or a combination. Such special-purpose computing devices mayalso combine custom hard-wired logic, ASICs, or FPGAs with customprogramming to accomplish the techniques. The special-purpose computingdevices may be desktop computer systems, server computer systems,portable computer systems, handheld devices, networking devices or anyother device or combination of devices that incorporate hard-wiredand/or program logic to implement the techniques.

Computing device(s) are generally controlled and coordinated byoperating system software, such as iOS, Android, Chrome OS, Windows XP,Windows Vista, Windows 7, Windows 8, Windows Server, Windows CE, Unix,Linux, SunOS, Solaris, iOS, Blackberry OS, VxWorks, or other compatibleoperating systems. In other embodiments, the computing device may becontrolled by a proprietary operating system. Conventional operatingsystems control and schedule computer processes for execution, performmemory management, provide file system, networking, I/O services, andprovide a user interface functionality, such as a graphical userinterface (“GUI”), among other things.

FIG. 12 is a block diagram that illustrates a computer system 1200 uponwhich any of the embodiments described herein may be implemented. Thecomputer system 1200 includes a bus 1202 or other communicationmechanism for communicating information, one or more hardware processors1204 coupled with bus 1202 for processing information. Hardwareprocessor(s) 1204 may be, for example, one or more general purposemicroprocessors.

The computer system 1200 also includes a main memory 1206, such as arandom access memory (RAM), cache and/or other dynamic storage devices,coupled to bus 1202 for storing information and instructions to beexecuted by processor 1204. Main memory 1206 also may be used forstoring temporary variables or other intermediate information duringexecution of instructions to be executed by processor 1204. Suchinstructions, when stored in storage media accessible to processor 1204,render computer system 1200 into a special-purpose machine that iscustomized to perform the operations specified in the instructions.

The computer system 1200 further includes a read only memory (ROM) 1208or other static storage device coupled to bus 1202 for storing staticinformation and instructions for processor 1204. A storage device 1210,such as a magnetic disk, optical disk, or USB thumb drive (Flash drive),etc., is provided and coupled to bus 1202 for storing information andinstructions.

The computer system 1200 may be coupled via bus 1202 to output device(s)1212, such as a cathode ray tube (CRT) or LCD display (or touch screen),for displaying information to a computer user. Input device(s) 1214,including alphanumeric and other keys, are coupled to bus 1202 forcommunicating information and command selections to processor 1204.Another type of user input device is cursor control 1216, such as amouse, a trackball, or cursor direction keys for communicating directioninformation and command selections to processor 1204 and for controllingcursor movement on display 1212. This input device typically has twodegrees of freedom in two axes, a first axis (e.g., x) and a second axis(e.g., y), that allows the device to specify positions in a plane. Insome embodiments, the same direction information and command selectionsas cursor control may be implemented via receiving touches on a touchscreen without a cursor.

The computing system 1200 may include a user interface module toimplement a GUI that may be stored in a mass storage device asexecutable software codes that are executed by the computing device(s).This and other modules may include, by way of example, components, suchas software components, object-oriented software components, classcomponents and task components, processes, functions, attributes,procedures, subroutines, segments of program code, drivers, firmware,microcode, circuitry, data, databases, data structures, tables, arrays,and variables.

In general, the word “module,” as used herein, refers to logic embodiedin hardware or firmware, or to a collection of software instructions,possibly having entry and exit points, written in a programminglanguage, such as, for example, Java, C or C++. A software module may becompiled and linked into an executable program, installed in a dynamiclink library, or may be written in an interpreted programming languagesuch as, for example, BASIC, Perl, or Python. It will be appreciatedthat software modules may be callable from other modules or fromthemselves, and/or may be invoked in response to detected events orinterrupts. Software modules configured for execution on computingdevices may be provided on a computer readable medium, such as a compactdisc, digital video disc, flash drive, magnetic disc, or any othertangible medium, or as a digital download (and may be originally storedin a compressed or installable format that requires installation,decompression or decryption prior to execution). Such software code maybe stored, partially or fully, on a memory device of the executingcomputing device, for execution by the computing device. Softwareinstructions may be embedded in firmware, such as an EPROM. It will befurther appreciated that hardware modules may be comprised of connectedlogic units, such as gates and flip-flops, and/or may be comprised ofprogrammable units, such as programmable gate arrays or processors. Themodules or computing device functionality described herein arepreferably implemented as software modules, but may be represented inhardware or firmware. Generally, the modules described herein refer tological modules that may be combined with other modules or divided intosub-modules despite their physical organization or storage.

The computer system 1200 may implement the techniques described hereinusing customized hard-wired logic, one or more ASICs or FPGAs, firmwareand/or program logic which in combination with the computer systemcauses or programs computer system 1200 to be a special-purpose machine.According to one embodiment, the techniques herein are performed bycomputer system 1200 in response to processor(s) 1204 executing one ormore sequences of one or more instructions contained in main memory1206. Such instructions may be read into main memory 1206 from anotherstorage medium, such as storage device 1210. Execution of the sequencesof instructions contained in main memory 1206 causes processor(s) 1204to perform the process steps described herein. In alternativeembodiments, hard-wired circuitry may be used in place of or incombination with software instructions.

The term “non-transitory media,” and similar terms, as used hereinrefers to any media that store data and/or instructions that cause amachine to operate in a specific fashion. Such non-transitory media maycomprise non-volatile media and/or volatile media. Non-volatile mediaincludes, for example, optical or magnetic disks, such as storage device1210. Volatile media includes dynamic memory, such as main memory 606.Common forms of non-transitory media include, for example, a floppydisk, a flexible disk, hard disk, solid state drive, magnetic tape, orany other magnetic data storage medium, a CD-ROM, any other optical datastorage medium, any physical medium with patterns of holes, a RAM, aPROM, and EPROM, a FLASH-EPROM, NVRAM, any other memory chip orcartridge, and networked versions of the same.

Non-transitory media is distinct from but may be used in conjunctionwith transmission media. Transmission media participates in transferringinformation between non-transitory media. For example, transmissionmedia includes coaxial cables, copper wire and fiber optics, includingthe wires that comprise bus 1202. Transmission media can also take theform of acoustic or light waves, such as those generated duringradio-wave and infra-red data communications.

Various forms of media may be involved in carrying one or more sequencesof one or more instructions to processor 1204 for execution. Forexample, the instructions may initially be carried on a magnetic disk orsolid-state drive of a remote computer. The remote computer can load theinstructions into its dynamic memory and send the instructions over atelephone line using a modem. A modem local to computer system 1200 canreceive the data on the telephone line and use an infra-red transmitterto convert the data to an infra-red signal. An infra-red detector canreceive the data carried in the infra-red signal and appropriatecircuitry can place the data on bus 1202. Bus 1202 carries the data tomain memory 1206, from which processor 1204 retrieves and executes theinstructions. The instructions received by main memory 1206 mayretrieves and executes the instructions. The instructions received bymain memory 1206 may optionally be stored on storage device 1210 eitherbefore or after execution by processor 1204.

The computer system 1200 also includes a communication interface 1218coupled to bus 1202. Communication interface 1218 provides a two-waydata communication coupling to one or more network links that areconnected to one or more local networks. For example, communicationinterface 1218 may be an integrated services digital network (ISDN)card, cable modem, satellite modem, or a modem to provide a datacommunication connection to a corresponding type of telephone line. Asanother example, communication interface 1218 may be a local areanetwork (LAN) card to provide a data communication connection to acompatible LAN (or WAN component to communicated with a WAN). Wirelesslinks may also be implemented. In any such implementation, communicationinterface 1218 sends and receives electrical, electromagnetic or opticalsignals that carry digital data streams representing various types ofinformation.

A network link typically provides data communication through one or morenetworks to other data devices. For example, a network link may providea connection through local network to a host computer or to dataequipment operated by an Internet Service Provider (ISP). The ISP inturn provides data communication services through the world wide packetdata communication network now commonly referred to as the “Internet”.Local network and Internet both use electrical, electromagnetic oroptical signals that carry digital data streams. The signals through thevarious networks and the signals on network link and throughcommunication interface 1218, which carry the digital data to and fromcomputer system 1200, are example forms of transmission media.

The computer system 1200 can send messages and receive data, includingprogram code, through the network(s), network link and communicationinterface 1218. In the Internet example, a server might transmit arequested code for an application program through the Internet, the ISP,the local network and the communication interface 1218.

The received code may be executed by processor 1204 as it is received,and/or stored in storage device 1210, or other non-volatile storage forlater execution.

Each of the processes, methods, and algorithms described in thepreceding sections may be embodied in, and fully or partially automatedby, code modules executed by one or more computer systems or computerprocessors comprising computer hardware. The processes and algorithmsmay be implemented partially or wholly in application-specificcircuitry.

The various features and processes described above may be usedindependently of one another, or may be combined in various ways. Allpossible combinations and sub-combinations are intended to fall withinthe scope of this disclosure. In addition, certain method or processblocks may be omitted in some implementations. The methods and processesdescribed herein are also not limited to any particular sequence, andthe blocks or states relating thereto can be performed in othersequences that are appropriate. For example, described blocks or statesmay be performed in an order other than that specifically disclosed, ormultiple blocks or states may be combined in a single block or state.The example blocks or states may be performed in serial, in parallel, orin some other manner. Blocks or states may be added to or removed fromthe disclosed example embodiments. The example systems and componentsdescribed herein may be configured differently than described. Forexample, elements may be added to, removed from, or rearranged comparedto the disclosed example embodiments.

Conditional language, such as, among others, “can,” “could,” “might,” or“may,” unless specifically stated otherwise, or otherwise understoodwithin the context as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements and/or steps are inany way required for one or more embodiments or that one or moreembodiments necessarily include logic for deciding, with or without userinput or prompting, whether these features, elements and/or steps areincluded or are to be performed in any particular embodiment.

Any process descriptions, elements, or blocks in the flow diagramsdescribed herein and/or depicted in the attached figures should beunderstood as potentially representing modules, segments, or portions ofcode which include one or more executable instructions for implementingspecific logical functions or steps in the process. Alternateimplementations are included within the scope of the embodimentsdescribed herein in which elements or functions may be deleted, executedout of order from that shown or discussed, including substantiallyconcurrently or in reverse order, depending on the functionalityinvolved, as would be understood by those skilled in the art.

It should be emphasized that many variations and modifications may bemade to the above-described embodiments, the elements of which are to beunderstood as being among other acceptable examples. All suchmodifications and variations are intended to be included herein withinthe scope of this disclosure. The foregoing description details certainembodiments of the invention. It will be appreciated, however, that nomatter how detailed the foregoing appears in text, the invention can bepracticed in many ways. As is also stated above, it should be noted thatthe use of particular terminology when describing certain features oraspects of the invention should not be taken to imply that theterminology is being re-defined herein to be restricted to including anyspecific characteristics of the features or aspects of the inventionwith which that terminology is associated. The scope of the inventionshould therefore be construed in accordance with the appended claims andany equivalents thereof.

Engines, Components, and Logic

Certain embodiments are described herein as including logic or a numberof components, engines, or mechanisms. Engines may constitute eithersoftware engines (e.g., code embodied on a machine-readable medium) orhardware engines. A “hardware engine” is a tangible unit capable ofperforming certain operations and may be configured or arranged in acertain physical manner. In various example embodiments, one or morecomputer systems (e.g., a standalone computer system, a client computersystem, or a server computer system) or one or more hardware engines ofa computer system (e.g., a processor or a group of processors) may beconfigured by software (e.g., an application or application portion) asa hardware engine that operates to perform certain operations asdescribed herein.

In some embodiments, a hardware engine may be implemented mechanically,electronically, or any suitable combination thereof. For example, ahardware engine may include dedicated circuitry or logic that ispermanently configured to perform certain operations. For example, ahardware engine may be a special-purpose processor, such as aField-Programmable Gate Array (FPGA) or an Application SpecificIntegrated Circuit (ASIC). A hardware engine may also includeprogrammable logic or circuitry that is temporarily configured bysoftware to perform certain operations. For example, a hardware enginemay include software executed by a general-purpose processor or otherprogrammable processor. Once configured by such software, hardwareengines become specific machines (or specific components of a machine)uniquely tailored to perform the configured functions and are no longergeneral-purpose processors. It will be appreciated that the decision toimplement a hardware engine mechanically, in dedicated and permanentlyconfigured circuitry, or in temporarily configured circuitry (e.g.,configured by software) may be driven by cost and time considerations.

Accordingly, the phrase “hardware engine” should be understood toencompass a tangible entity, be that an entity that is physicallyconstructed, permanently configured (e.g., hardwired), or temporarilyconfigured (e.g., programmed) to operate in a certain manner or toperform certain operations described herein. As used herein,“hardware-implemented engine” refers to a hardware engine. Consideringembodiments in which hardware engines are temporarily configured (e.g.,programmed), each of the hardware engines need not be configured orinstantiated at any one instance in time. For example, where a hardwareengine comprises a general-purpose processor configured by software tobecome a special-purpose processor, the general-purpose processor may beconfigured as respectively different special-purpose processors (e.g.,comprising different hardware engines) at different times. Softwareaccordingly configures a particular processor or processors, forexample, to constitute a particular hardware engine at one instance oftime and to constitute a different hardware engine at a differentinstance of time.

Hardware engines can provide information to, and receive informationfrom, other hardware engines. Accordingly, the described hardwareengines may be regarded as being communicatively coupled. Where multiplehardware engines exist contemporaneously, communications may be achievedthrough signal transmission (e.g., over appropriate circuits and buses)between or among two or more of the hardware engines. In embodiments inwhich multiple hardware engines are configured or instantiated atdifferent times, communications between such hardware engines may beachieved, for example, through the storage and retrieval of informationin memory structures to which the multiple hardware engines have access.For example, one hardware engine may perform an operation and store theoutput of that operation in a memory device to which it iscommunicatively coupled. A further hardware engine may then, at a latertime, access the memory device to retrieve and process the storedoutput. Hardware engines may also initiate communications with input oroutput devices, and can operate on a resource (e.g., a collection ofinformation).

The various operations of example methods described herein may beperformed, at least partially, by one or more processors that aretemporarily configured (e.g., by software) or permanently configured toperform the relevant operations. Whether temporarily or permanentlyconfigured, such processors may constitute processor-implemented enginesthat operate to perform one or more operations or functions describedherein. As used herein, “processor-implemented engine” refers to ahardware engine implemented using one or more processors.

Similarly, the methods described herein may be at least partiallyprocessor-implemented, with a particular processor or processors beingan example of hardware. For example, at least some of the operations ofa method may be performed by one or more processors orprocessor-implemented engines. Moreover, the one or more processors mayalso operate to support performance of the relevant operations in a“cloud computing” environment or as a “software as a service” (SaaS).For example, at least some of the operations may be performed by a groupof computers (as examples of machines including processors), with theseoperations being accessible via a network (e.g., the Internet) and viaone or more appropriate interfaces (e.g., an Application ProgramInterface (API)).

The performance of certain of the operations may be distributed amongthe processors, not only residing within a single machine, but deployedacross a number of machines. In some example embodiments, the processorsor processor-implemented engines may be located in a single geographiclocation (e.g., within a home environment, an office environment, or aserver farm). In other example embodiments, the processors orprocessor-implemented engines may be distributed across a number ofgeographic locations.

Language

Throughout this specification, plural instances may implementcomponents, operations, or structures described as a single instance.Although individual operations of one or more methods are illustratedand described as separate operations, one or more of the individualoperations may be performed concurrently, and nothing requires that theoperations be performed in the order illustrated. Structures andfunctionality presented as separate components in example configurationsmay be implemented as a combined structure or component. Similarly,structures and functionality presented as a single component may beimplemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein.

Although an overview of the subject matter has been described withreference to specific example embodiments, various modifications andchanges may be made to these embodiments without departing from thebroader scope of embodiments of the present disclosure. Such embodimentsof the subject matter may be referred to herein, individually orcollectively, by the term “invention” merely for convenience and withoutintending to voluntarily limit the scope of this application to anysingle disclosure or concept if more than one is, in fact, disclosed.

The embodiments illustrated herein are described in sufficient detail toenable those skilled in the art to practice the teachings disclosed.Other embodiments may be used and derived therefrom, such thatstructural and logical substitutions and changes may be made withoutdeparting from the scope of this disclosure. The Detailed Description,therefore, is not to be taken in a limiting sense, and the scope ofvarious embodiments is defined only by the appended claims, along withthe full range of equivalents to which such claims are entitled.

It will be appreciated that an “engine,” “system,” “data store,” and/or“database” may comprise software, hardware, firmware, and/or circuitry.In one example, one or more software programs comprising instructionscapable of being executable by a processor may perform one or more ofthe functions of the engines, data stores, databases, or systemsdescribed herein. In another example, circuitry may perform the same orsimilar functions. Alternative embodiments may comprise more, less, orfunctionally equivalent engines, systems, data stores, or databases, andstill be within the scope of present embodiments. For example, thefunctionality of the various systems, engines, data stores, and/ordatabases may be combined or divided differently.

“Open source” software is defined herein to be source code that allowsdistribution as source code as well as compiled form, with awell-publicized and indexed means of obtaining the source, optionallywith a license that allows modifications and derived works.

The data stores described herein may be any suitable structure (e.g., anactive database, a relational database, a self-referential database, atable, a matrix, an array, a flat file, a documented-oriented storagesystem, a non-relational No-SQL system, and the like), and may becloud-based or otherwise.

As used herein, the term “or” may be construed in either an inclusive orexclusive sense. Moreover, plural instances may be provided forresources, operations, or structures described herein as a singleinstance. Additionally, boundaries between various resources,operations, engines, engines, and data stores are somewhat arbitrary,and particular operations are illustrated in a context of specificillustrative configurations. Other allocations of functionality areenvisioned and may fall within a scope of various embodiments of thepresent disclosure. In general, structures and functionality presentedas separate resources in the example configurations may be implementedas a combined structure or resource. Similarly, structures andfunctionality presented as a single resource may be implemented asseparate resources. These and other variations, modifications,additions, and improvements fall within a scope of embodiments of thepresent disclosure as represented by the appended claims. Thespecification and drawings are, accordingly, to be regarded in anillustrative rather than a restrictive sense.

Conditional language, such as, among others, “can,” “could,” “might,” or“may,” unless specifically stated otherwise, or otherwise understoodwithin the context as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements and/or steps are inany way required for one or more embodiments or that one or moreembodiments necessarily include logic for deciding, with or without userinput or prompting, whether these features, elements and/or steps areincluded or are to be performed in any particular embodiment.

For example, “is to be” could mean, “should be,” “needs to be,” “isrequired to be,” or “is desired to be,” in some embodiments.

Although the invention(s) have been described in detail for the purposeof illustration based on what is currently considered to be the mostpractical and preferred implementations, it is to be understood thatsuch detail is solely for that purpose and that the invention is notlimited to the disclosed implementations, but, on the contrary, isintended to cover modifications and equivalent arrangements that arewithin the spirit and scope of the appended claims. For example, it isto be understood that the present invention contemplates that, to theextent possible, one or more features of any embodiment can be combinedwith one or more features of any other embodiment.

The foregoing description of the present invention(s) have been providedfor the purposes of illustration and description. It is not intended tobe exhaustive or to limit the invention to the precise forms disclosed.The breadth and scope of the present invention should not be limited byany of the above-described exemplary embodiments. Many modifications andvariations will be apparent to the practitioner skilled in the art. Themodifications and variations include any relevant combination of thedisclosed features. The embodiments were chosen and described in orderto best explain the principles of the invention and its practicalapplication, thereby enabling others skilled in the art to understandthe invention for various embodiments and with various modificationsthat are suited to the particular use contemplated. It is intended thatthe scope of the invention be defined by the following claims and theirequivalence.

What is claimed is:
 1. A system in a vehicle comprising: one or moresensors configured to determine a speed of the vehicle, an internaltemperature of an enclosure, and an external temperature; the enclosure;a fan disposed at a base of the enclosure; a controller configured to:regulate a rotation speed of the fan based on the speed of the vehicle,the internal temperature of the enclosure, the external temperature, orthe difference between the internal temperature of the enclosure and theexternal temperature; and operate the fan at the regulated rotationspeed; a moisture absorbent disposed on the top surface of theenclosure; and at least one selected from the group of: a first ventdisposed at the base of the enclosure, the first vent configured topermit airflow into the enclosure; and a second vent disposed on the topsurface of the enclosure, the second vent configured to permit heat toescape.
 2. The system of claim 1, wherein, the controller is configuredto regulate the rotation speed of the fan based on the speed of thevehicle.
 3. The system of claim 1, wherein, the controller is configuredto regulate the rotation speed of the fan based on the differencebetween the internal temperature of the enclosure and the externaltemperature.
 4. The system of claim 1, wherein, the controller isconfigured to regulate the rotation speed of the fan based on the speedof the vehicle, the internal temperature of the enclosure, the externaltemperature, and the difference between the internal temperature of theenclosure and the external temperature.
 5. The system of claim 1,further comprising a moisture detector disposed on the top surface ofthe enclosure, and wherein the controller is configured to close thesecond vent in response to the moisture detector detecting moisture. 6.The system of claim 1, further comprising: a moisture detector disposedon the top surface of the enclosure; and an air conditioning (AC) ventdisposed at the base of the enclosure, and wherein the controller isconfigured to open the AC vent and close the second vent in response tothe moisture detector detecting moisture.
 7. The system of claim 1,wherein the controller is configured to adjust a size of the first ventor a size of the second vent based on the speed of the vehicle, theinternal temperature of the enclosure, the external temperature, or thedifference between the internal temperature of the enclosure and theexternal temperature.
 8. The system of claim 1, further comprising afilter system configured to prevent debris from entering the enclosure.9. A heat exchange method for an enclosure disposed on a vehicle andcomprising one or more sensors, comprising: determining, using the oneor more sensors, a speed of the vehicle, an internal temperature of anenclosure, and an external temperature; regulating, by a controller, arotation speed of a fan disposed at a base of the enclosure, based onthe speed of the vehicle, the internal temperature of the enclosure, theexternal temperature, or a difference between the internal temperatureof the enclosure and the external temperature; operating the fan at theregulated rotation speed; absorbing moisture, by a moisture absorbent,at a top surface of the enclosure; and at least one selected from thegroup of: permitting airflow to enter the enclosure at a first ventdisposed at the base of the enclosure; and permitting heat to escape theenclosure at a second vent disposed at a top surface of the enclosure.10. The heat exchange method of claim 9, wherein, the regulating therotation speed of the fan is based on the speed of the vehicle.
 11. Theheat exchange method of claim 9, wherein, the regulating the rotationspeed of the fan is based on the difference between the internaltemperature of the enclosure and the external temperature.
 12. The heatexchange method of claim 9, wherein, the regulating the rotation speedof the fan is based on the speed of the vehicle, the internaltemperature of the enclosure, the external temperature, and thedifference between the internal temperature of the enclosure and theexternal temperature.
 13. The heat exchange method of claim 9, furthercomprising: detecting whether or not moisture is present, by a moisturedetector, at the top surface of the enclosure; and closing the secondvent in response to detecting that moisture is present.
 14. The heatexchange method of claim 9, further comprising: detecting whether or notmoisture is present, by a moisture detector, at the top surface of theenclosure; closing the second vent in response to detecting thatmoisture is present; and opening an air conditioning (AC) vent disposedat the base of the enclosure to allow heat to escape.
 15. The heatexchange method of claim 9, further comprising: adjusting a size of thefirst vent or a size of the second vent based on the speed of thevehicle, the internal temperature of the enclosure, the externaltemperature, or the difference between the internal temperature of theenclosure and the external temperature.
 16. The heat exchange method ofclaim 9, further comprising: filtering, by a filter system, an airflowentering the enclosure to prevent debris from entering the enclosure.17. A system in a vehicle comprising: one or more sensors configured todetermine a speed of the vehicle, an internal temperature of anenclosure, and an external temperature; the enclosure to house the oneor more sensors; a fan disposed at a base of the enclosure; and a firstvent disposed at the base of the enclosure, the first vent configured topermit airflow into the enclosure; a second vent disposed on the topsurface of the enclosure, the second vent configured to permit heat toescape; a moisture detector disposed on the top surface of theenclosure; and a controller configured to: regulate a first size of thefirst vent or a second size of the second vent based on the speed of thevehicle, the internal temperature of the enclosure, the externaltemperature, the difference between the internal temperature of theenclosure and the external temperature, or an amount of moisturedetected by the moisture detector.